System and method for detecting vehicle types by utilizing information of vehicle height, and debiting system utilizing this system and method

• US 5,839,085 A
• Filed: 01/09/1997
• Issued: 11/17/1998
• Est. Priority Date: 01/10/1996
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sunahara, Shuichi, Yoshikawa, Kazutoshi
• Primary Examiner(s): Barlow, Jr., John E.
• Assistant Examiner(s): BUI, BRYAN
• Application Number:
  US08/781,048
• Time in Patent Office: 677 Days
• Field of Search: 364/554, 701/32, 701/34, 701/37, 701/117, 705/13-14, 340/942, 340/933, 340/937, 235/384, 235/375
• US Class Current: 701/117
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles

Abstract

A system and a method for detecting vehicle types utilizing height information and a debiting system using such a system or a method. A plurality of distance sensors (heads) are provided laterally on a road, and 0/1 linked existence data and linked height data are generated by a link generator. The former data represent the existence of a vehicle on a detection line drawn along the road width direction on the basis of the distance data obtained by the heads and the latter data represent height profiles of a vehicle on the detection line. Height data such as maximum, minimum and average height in every height block are calculated by a scan-by-scan height evaluator 38 on the basis of the linked height data and vehicle position information, and a vehicle type detector 40 detects the type of the vehicle. It is possible to accurately detect illegal vehicles, which have an ID corresponding to another vehicle type, by transmitting the results to the host system together with the output of a vehicle detector and using a detection result.

Claims

1. A vehicle type detecting system comprising:

height detecting means for detecting a height of an object on a road; and

vehicle type detecting means for, when the height satisfies at least one of a plurality of vehicle type conditions, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of plurality of vehicle type conditions, each of said vehicle type conditions being defined for every vehicle type;

wherein said height detecting means includes a plurality of sensors each detecting a distance to the object, and means for, if any of the plurality of sensors becomes faulty, generating information representing the detection of distance from the faulty sensor.

2. A vehicle type detecting system according to claim 1, wherein the vehicle type detecting means further includes;

height profile detecting means for repeatedly detecting a height profile of the object by utilizing the height detecting means so as to obtain a plurality of height profiles along a direction crossing a lengthwise direction of a road with respect to the object;

pattern detecting means for detecting a pattern of variation of the plurality of height profiles detected from the object, along the lengthwise direction of the road; and

means for, when the pattern satisfies at least one of said vehicle type conditions, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of said vehicle type conditions.

3. A vehicle type detecting system according to claim 2, wherein the pattern detecting means further includes:

means for generating a statistical index for each of a plurality of height profiles detected from the object, the statistical index representing distribution of height in the object; and

means for gathering generated statistical indexes with respect to the object and for detecting the pattern by comparing gathered statistical indexes with each other along the lengthwise direction of the road.

4. A vehicle type detecting system according to claim 3, wherein the pattern detecting means further includes:

means for detecting a number of height profiles beyond a height detection limit from the plurality of height profiles detected from the object; and

means for detecting the pattern on the number of height profiles beyond the height detection limit.

5. A vehicle type detecting system according to claim 2, wherein the pattern detecting means further includes:

means for detecting a number of height profiles beyond a height detection limit from the plurality of height profiles detected from the object; and

means for detecting the pattern on the basis of the number of height profiles beyond the height detection limit.

6. A vehicle type detecting system according to claim 1, wherein said information representing the detection of distance from the faulty sensor is generated by another of said plurality of sensors in proximity of the faulty sensor.

7. A vehicle type detecting system according to claim 1, wherein at least some of said plurality of sensors are operated with a different timing so as to prevent interference among said sensors.

8. A vehicle type detecting system comprising:

height detecting means for detecting a height of an object on a road; and

vehicle type detecting means for, when the height satisfies at least one of a plurality of vehicle type conditions, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of a plurality of vehicle type conditions, each of said vehicle type conditions being defined for every vehicle type;

wherein the vehicle type detecting means includes;

height profile detecting means for repeatedly detecting a height profile of the object by utilizing the height detecting means so as to obtain a plurality of height profiles along a direction crossing in a lengthwise direction of the road with respect to the object;

pattern detecting means for detecting a pattern of variation of the plurality of height profiles detected from the object, along the lengthwise direction of the road; and

means for, when the pattern satisfies at least one of said vehicle type conditions, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of said vehicle type conditions;

wherein the height detecting means includes;

a plurality of sensors arranged along the direction crossing the lengthwise direction with a required small interval, the plurality of sensors each detecting the distance to an object passing its neighborhood and supplying detected results to the height profiles detecting means; and

means for, if any of the plurality of sensors goes faulty, generating information representing estimated distance on the basis of the detected result by another sensor located in the proximity of the faulty sensor, and supplying the information to the height profile detecting means instead of the distance to be detected by the faulty sensor.

9. A vehicle type detecting method comprising:

a step of detecting a height of an object on a road using a plurality of sensors detecting a distance to the object and, if any of the plurality of sensors becomes faulty, generating information representing the detection of distance from the faulty sensor; and

a step of, when the height satisfies at least one of a plurality of vehicle type condition, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of a plurality of vehicle type condition, each of said vehicle type conditions being defined for each of vehicle types.

10. A vehicle type detecting method according to claim 9, wherein said information representing the detection of distance from the faulty sensor is generated by another of said plurality of sensors in proximity of the faulty sensor.

11. A vehicle type detecting method according to claim 9, comprising a step of operating at least some of said plurality of sensors with a different timing so as to prevent interference among said sensors.

12. A debiting system comprising:

a system for receiving identification information from a vehicle running on a road by radio communication with the vehicle and for generating a first vehicle type information representing a vehicle type of the vehicle on the basis of the received identification information;

a vehicle type detecting system detecting a height of an object on the road, determining, when the height satisfies at least one of a plurality of vehicle type conditions, that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of a plurality of vehicle type conditions, and generating second vehicle type information showing determined results, each of said vehicle type conditions being defined for each of vehicle types; and

a host system for detecting a vehicle transmitting the identification information, which does not coincide with an actual vehicle type of the vehicle, by matching the first vehicle type information with the second vehicle type information;

wherein said vehicle type detecting system includes a plurality of sensors each detecting a distance to the object, and means for, if any of the plurality of sensors becomes faulty, generating information representing the detection of distance from the faulty sensor.

13. A debiting system according to claim 12, wherein said information representing the detection of distance from the faulty sensor is generated by another of said plurality of sensors in proximity of the faulty sensor.

14. A debiting system according to claim 12, wherein at least some of said plurality of sensors are operated with a different timing so as to prevent interference among said sensors.

15. A vehicle type detecting system comprising:

height detecting means for detecting a height of an object on a road; and

vehicle type detecting means for, when the height satisfies at least one of a plurality of vehicle type conditions, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of a plurality of vehicle type conditions, each of said vehicle type conditions being defined for every vehicle type;

wherein said height detecting means includes a plurality of sensors, at least some of said plurality of sensors operating with a different timing so as to prevent interference among said sensors.

16. A vehicle type detecting system according to claim 15, wherein the vehicle type detecting means includes:

height profile detecting means for repeatedly detecting a height profile of the object by utilizing the height detecting means so as to obtain a plurality of height profiles along a direction crossing a lengthwise direction of a road with respect to the object;

pattern detecting means for detecting a pattern of variation of the plurality of height profiles detected from the object, along the lengthwise direction of the road; and

means for, when the pattern satisfies at least one of said vehicle type conditions, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of said vehicle type conditions.

17. A vehicle type detecting system according to claim 16, wherein the pattern detecting means includes:

means for generating a statistical index for each of a plurality of height profiles detected from the object, the statistical index representing distribution of height in the object; and

means for gathering generated statistical indexes with respect to the object and for detecting the pattern by comparing gathered statistical indexes with each other along the lengthwise direction of the road.

18. A vehicle type detecting system according to claim 17, wherein the pattern detecting means includes:

means for detecting a number of height pro files beyond a height detection limit from the plurality of height profiles detected from the object; and

means for detecting the pattern on the number of height profiles beyond the height detection limit.

19. A vehicle type detecting system according to claim 16, wherein the pattern detecting means includes:

means for detecting a number of height profiles beyond a height detection limit from the plurality of height profiles detected from the object; and

means for detecting the pattern on the basis of the number of height profiles beyond the height detection limit.

20. A vehicle type detecting system comprising:

height detecting means for detecting a height of an object on a road;

vehicle type detecting means for, when the height satisfies at least one of a plurality of vehicle type conditions, determining that the object is a vehicle which belongs to a vehicle type corresponding to said at least one of a plurality of vehicle type conditions, each of said vehicle type conditions being defined for every vehicle type; and

width detecting means for detecting a width of the object;

wherein said width detecting means detects the entire width of the object and said vehicle type detecting means rejects height data from said height detecting means indicating an infinite height if said height data indicating an infinite height occupies less than a predetermined ratio with respect to the entire width of the object.

21. A vehicle type detecting system according to claim 20, wherein said vehicle type detecting means utilizes height data indicating an infinite height from said height detecting means if said height data indicating an infinite height occupies more than said predetermined ratio.