Vehicle classifying apparatus and a toll system

• US 6,195,019 B1
• Filed: 01/20/1999
• Issued: 02/27/2001
• Est. Priority Date: 01/20/1998
• Status: Expired due to Term

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Nagura, Michinaga
• Primary Examiner(s): Lefkowitz, Edward
• Assistant Examiner(s): Goins, Davetta W.
• Application Number:
  US09/233,471
• Time in Patent Office: 769 Days
• Field of Search: 340/928, 340/933, 340/937, 340/942, 340/825.31, 235/384, 235/375, 356/376, 356/4.01, 356/398, 701/117, 701/13, 701/32
• US Class Current: 340/928
• CPC Class Codes: G07B 15/063 using wireless information transmission between the vehicle and a fixed station identification of vehicles G08G
• CPC Class Codes: G08G 1/017 identifying vehicles G08G1/015, G08G1/054 take precedence
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors

Abstract

A class of a vehicle (VHC) is judged from distance data obtained by scanning on a lane with at least a laser beam in the longitudinal direction LD of the lane, wherein the scanning line may be inclined. Distance data may be further obtained in the width direction to provide more accurate judgement. The LD measurement unit may be swinged with the VHC position in the width direction. The outline of the VHC is detected by obtaining characteristic points from the distance data. The number of axles may be detected by slantwise scanning from an upper right or left position above the lane. Successive partial distance images with offsets can be combined to provide combined outline of the VHC to detect the class. A communication (COMM) unit may be provided to receive ID data, class data of VHC, owner data from the removable VHC COMM unit mounted on the VHC. Correspondence between the VHC COMM unit and the VHC is judged when the start timing of COMM with the COMM unit agrees with a timing predicted from the front shield glass position from the detected shape of the VHC and the speed. Unrighteous travelling is judged when the judged class disagrees with the class data from the COMM unit. A toll system for requesting the toll determined according to the determined class is also disclosed.

Claims

1. A vehicle classifying apparatus comprising:

generation means configured for emitting a light beam;

scanning means arranged at a predetermined position above a predetermined detection zone, wherein the predetermined detection zone includes a vehicle travel lane, the scanning means being configured for (i) deflecting the emitted light beam and (ii) directing the deflected light beam on a first scanning line formed along a longitudinal direction of the lane in order to illuminate a vehicle traveling in the lane, the deflected light beam and the first scanning line forming at least one predetermined angle;

receiving means configured for receiving a reflected light beam, the reflected light beam being produced by the deflected light beam illuminating the vehicle;

distance detection means including storing means, the distance detection means being responsive to the receiving means and configured for (i) detecting a time delay between a first timing and a second timing, the first timing defining a time of emission of the light beam and the second timing defining a time of reception of the reflected light beam, (ii) determining a distance between the scanning means and the vehicle based upon the time delay, and (iii) producing distance data indicative of the distance; and

classifying means responsive to the distance detection means, the classifying means being configured for (i) classifying the vehicle in accordance with the distance data and (ii) producing a classification result representative of the classified vehicle;

wherein the at least one predetermined angle is an intermediate angle between the longitudinal direction and a width direction of the lane.

2. The vehicle classifying apparatus as claimed in claim 1, further comprising orthogonal component detection means for detecting characteristic points in a width direction perpendicular to said lane and width detection means for detecting a width of said vehicle from the detected characteristic points in said width direction.

3. A vehicle classifying apparatus comprising:

communication means for communicating with a vehicle communication unit configured for mounting on a vehicle travelling on a lane and receiving data associated with the communication unit within a predetermined communication zone, the data including identification data;

timing detection means for detecting a first timing when the vehicle communication unit starts communicating with the communication means;

generation means responsive to the timing detection means and configured for emitting a light beam;

scanning means arranged at a predetermined position above a predetermined detection zone, wherein the predetermined detection zone includes a vehicle travel lane, the scanning means being configured for (i) deflecting the emitted light beam and (ii) directing the deflected light beam on a first scanning line formed along a longitudinal direction of the lane in order to illuminate a vehicle traveling in the lane;

receiving means configured for receiving a reflected light beam, the reflected light beam being produced when the deflected light beam illuminates the vehicle the vehicle;

distance data image detection means for detecting a distance data image on the lane within a detection zone substantially agreeing with the predetermined communication zone to detect the distance data image of the vehicle in accordance with an output of the receiving means and detecting a speed of the vehicle;

position judging means for judging a position of the communication unit in accordance with the distance data image of the vehicle;

timing operation means for determining a second timing when the communication means communicates with the communication unit the speed and position of the vehicle; and

judging means for judging whether the vehicle communication unit corresponds to the vehicle in accordance with the first and second timings and outputting the judging result.

4. The vehicle classifying apparatus as claimed in claim 3, wherein said judging means comprises difference operating means for operating a difference between said first and second timings and comparing means for comparing the difference with a reference and judges that said vehicle communication unit corresponds to said vehicles as that said vehicle communication unit is mounted on said vehicle in accordance with the comparing result.

5. The vehicle classifying apparatus as claimed in claim 3, further comprising reference varying means for varying said reference in inverse proportion to said speed.

6. The vehicle classifying apparatus as claimed in claim 3, wherein said communication means communicates with said vehicle with a microwave signal within said communication zone, said distance data image detection means optically detects said distance data image on said lane within said detection zone, and said communication zone three-dimensionally agrees with said detection zone.

7. The vehicle classifying apparatus as claimed in claim 3, wherein said distance data detection means comprises laser scanning means for emitting a laser beam for scanning and receiving the reflected laser light and obtaining distance data image from the delay of emitting said laser beam and receiving the reflected laser light.

8. The vehicle classifying apparatus as claimed in claim 3, further comprising historic data storing means for storing data of said first timing as historic data of said vehicle communication unit and said judging means judges that said vehicle communication unit corresponds to said vehicle in accordance with said first timing and said historic data as said second timing.

9. The vehicle classifying apparatus as claimed in claim 3, further comprising unrighteous judging means for judging unrighteous travelling of said vehicle on said lane in accordance with the judging result of said judging means when said vehicle communication unit does not correspond to said vehicle and outputting the unrighteous judging result.

10. The vehicle classifying apparatus as claimed in claim 9, further comprising vehicle classifying means for classifying said vehicle from said distance data image, wherein said data further includes class data which is to be correspondent to said vehicle and said unrighteous judging means further judges said unrighteous travelling when the class of said vehicle classified by said vehicle classifying means disagrees with said class data from said communication means.

11. The vehicle classifying apparatus as claimed in claim 3, wherein said position judging means judges a front shield position of said vehicle from the detected distance data image and judges said position of said communication unit adjacent to said front shield position.

12. A toll system comprising:

vehicle classifying apparatus means including;

communication means for communicating with a vehicle communication unit configured for mounting on a vehicle travelling on a lane and receiving data from the communication unit within a predetermined communication zone, the data including identification data;

timing detection means for detecting a first timing when the vehicle communication unit begins to communicate with the communication means;

generation means configured for emitting a light beam;

scanning means arranged at a predetermined position above a predetermined detection zone, wherein the predetermined detection zone includes a vehicle travel lane, the scanning means being configured for (i) deflecting the emitted light beam and (ii) directing the deflected light beam on a first scanning line formed along a longitudinal direction of the lane in order to illuminate a vehicle traveling in the lane;

receiving means configured for receiving a reflected light beam, the reflected light beam being produced when the deflected light beam illuminates the vehicle;

distance data image detection means for detecting a distance data image on the lane within detection zone substantially agreeing with the communication zone to detect the distance data image of the vehicle in accordance with an output of the receiving means and detecting a speed of the vehicle;

outline detection means responsive to the distance data image detection means and configured for directly detecting an outline of the vehicle in accordance with the distance data image;

position judging means for judging a position of the communication unit in accordance with the outline;

timing operation means for operating a second timing when the communication means communicates with the communication unit the speed and position of the vehicle; and

judging means for judging whether the vehicle communication unit corresponds to the vehicle in accordance with the first and second timings and outputting the judging result;

determining means for determining a toll of the vehicle; and

demanding means for demanding payment of the toll from a person.

13. A vehicle classifying apparatus comprising:

generation means configured for emitting a light beam;

scanning means arranged at a predetermined position above a predetermined detection zone, wherein the predetermined detection zone includes a vehicle travel lane, the scanning means being configured for (i) deflecting the emitted light beam and (ii) directing the deflected light beam on a first scanning line formed along a longitudinal direction of the lane to illuminate a vehicle traveling in the lane;

receiving means configured for receiving a reflected light beam, the reflected light beam being produced when the deflected light beam illuminates the vehicle the vehicle;

distance detection means including storing means, the distance detection means being responsive to the receiving means and configured for (i) detecting a time delay between a first timing and a second timing, the first timing defining a time of emission of the light beam and the second timing defining a time of reception of the reflected light beam, (ii) determining a distance between the scanning means and the vehicle based upon the time delay, and (iii) producing distance data indicative of the distance;

outline detection means responsive to the distance detection means and configured for directly detecting an outline of the vehicle in accordance with the distance data; and

classifying means responsive to the outline detection means, the classifying means being configured for (i) classifying the vehicle in accordance with the outline and (ii) producing a classification result representative of the classified vehicle.

14. The vehicle classifying apparatus as claimed in claim 13, further comprising:

characteristic point detection means for detecting characteristic points of the outline of said vehicle from said distance data;

correspondence detection means for detecting correspondence between previously detected first characteristic points and presently detected second characteristic points including a part of said first characteristic points; and

characteristic point combining means for combining said first characteristic points with said second characteristic points in accordance with said correspondence.

15. The vehicle classifying apparatus as claimed in claim 13, wherein said classifying means detects a shape of the outline of said vehicle in said longitudinal direction.

16. The vehicle classifying apparatus as claimed in claim 13, further comprising:

characteristic point detection means for detecting characteristic points of the outline of said vehicle from said distance data;

vehicle speed detection means responsive to said characteristic point detection means for detecting movement of said characteristic points, determining an instantaneous speed of said vehicle in accordance the detected movement, and outputting data of said instantaneous speed.

17. The vehicle classifying apparatus as claimed in claim 16, wherein said vehicle speed variation detection means detects a travelling speed of said vehicle within said predetermined detection zone in accordance with the detected movement.

18. The vehicle classifying apparatus as claimed in claim 16, further comprising:

vehicle speed variation detection means for detecting a moving speed of said characteristic points, detecting a variation of said travelling speed within said predetermined detection zone in accordance with the detected movement, and outputting data of said variation.

19. The vehicle classifying apparatus as claimed in claim 18, wherein said vehicle speed detection means detects an interval for which said movement of said characteristic points cannot be continuously detected;

said vehicle classifying apparatus further comprising speed estimation means configured for estimating said traveling speed of said vehicle in accordance with (i) said traveling speed and said variation detected before said interval and (ii) said traveling speed and said variation after said interval.

20. The vehicle classifying apparatus as claimed in claim 18, wherein said classifying means detects a shape of the outline of said vehicle in said longitudinal direction, said vehicle speed detection means detects an interval for which said movement of said characteristic point cannot be continuously detected;

said vehicle classifying apparatus further comprising speed estimation means for estimating said travelling speed of said vehicle in accordance with said travelling speed and said variation detected before said interval and in accordance with said travelling speed and said variation after said interval with assumption that the travelling speed varies successively.

21. The vehicle classifying apparatus according to claim 13, further comprising:

second generation means configured for emitting a second light beam;

second scanning means arranged at a second predetermined position above a detection zone, wherein the detection zone includes a vehicle travel lane, the second scanning means being configured for (i) deflecting the second emitted light beam and (ii) directing the second deflected light beam on a second scanning line formed along a longitudinal direction of the lane in order to illuminate a vehicle traveling in the lane;

second receiving means configured for receiving a second reflected light beam, the second reflected light beam being produced when the second deflected light beam illuminates the vehicle the vehicle;

second distance detection means including second storing means, the second distance detection means being responsive to the second receiving means and configured for (i) detecting a second time delay between a third timing and a fourth timing, the third timing defining a time of emission of the second light beam and the fourth timing defining a time of reception of the second reflected light beam, (ii) determining a second distance between the second scanning means and the vehicle based upon the second time delay, and (iii) producing second distance data indicative of the second distance;

second outline detection means responsive to the second distance detection means and configured for directly detecting a second outline of the vehicle in accordance with the second distance data; and

second classifying means responsive to the second outline detection means, the second classifying means being configured for (i) classifying the vehicle in accordance with the second outline and (ii) producing a second classification result representative of the classified vehicle.

22. The vehicle classifying apparatus as claimed in claim 21, wherein the direction of said second scanning line is different from the direction of said scanning line.

23. The vehicle classifying apparatus as claimed in claim 22, wherein said second scanning line is perpendicular to said longitudinal direction.

24. The vehicle classifying apparatus as claimed in claim 23, wherein said predetermined angle is zero.

25. The vehicle classifying apparatus as claimed in claim 23, wherein said angle is zero, the vehicle classifying apparatus further comprises vehicle position judging means responsive to said second distance detection means for judging a position of said vehicle along said second scanning line, a case for supporting said generation means, scanning means, and receiving means, and swing means for swing said case in accordance with said detected position.

26. The vehicle classifying apparatus as claimed in claim 21, wherein said generation means comprises a first laser light source emitting a first laser light as said light beam and said second generation means comprises a second laser light source emitting a second laser light as said second light beam.

27. The vehicle classifying apparatus as claimed in claim 21, wherein said generation means comprises a laser light source emitting a laser light and said second generation means further comprises beam splitting means for splitting said laser light into said light beam and said second light beam.

28. The vehicle classifying apparatus as claimed in claim 27, wherein said beam splitting means splits said laser light such that said light beam and said second light beam are alternately outputted every scanning of each of said first and second light beams.

29. The vehicle classifying apparatus as claimed in claim 27, further comprising a polygon mirror unit as said scanning means and said beam splitting means, wherein said polygon mirror unit including first and second mirrors, and rotating means rotating said first and second mirrors, said second mirror which is inclined to said first mirror to split said laser light into said light beam and said second light beam.

30. The vehicle classifying apparatus according to claim 13, further comprising:

second generation means configured for emitting a second light beam;

second scanning means arranged at a second predetermined position above a detection zone, wherein the detection zone includes a vehicle travel lane, the second scanning means being configured for (i) deflecting the second emitted light beam and (ii) directing the second deflected light beam on a second scanning line perpendicular to said longitudinal direction;

second receiving means configured for receiving a second reflected light beam, the second reflected light beam being produced when the second deflected light beam illuminates the vehicle the vehicle;

second distance detection means including second storing means, the second distance detection means being responsive to the second receiving means and configured for (i) detecting a second time delay between a third timing and a fourth timing, the third timing defining a time of emission of the second light beam and the fourth timing defining a time of reception of the second reflected light, (ii) determining a second distance between the second scanning means and the vehicle based upon the second time delay, and (iii) producing second distance data indicative of the second distance; and

tire detection means for detecting a tire of the vehicle in accordance with the second data.

31. The vehicle classifying apparatus as claimed in claim 30, further comprising the number of axles detection means for detecting the number of axles of said vehicle in accordance with a result of said tire detection means.

32. The vehicle classifying apparatus as claimed in claim 30, further comprising separation means for separating said lane from the other lane such that said any of said first and second beam signals are obstructed by another vehicle on said a other lane.

33. The vehicle classifying apparatus as claimed in claim 13, wherein said beam signal generation means comprises a laser light source emitting a laser light as said signal beam.

34. The vehicle classifying apparatus as claimed in claim 33, further comprising pulse driving means for driving said laser light source to periodically emit a pulse of said light beam, wherein said distance detection means detects said time delay.

35. The vehicle classifying apparatus as claimed in claims 29, further comprising directing means for directing said light beam toward said predetermined detection zone along said first scanning line and directing said second beam signal toward said predetermined detection zone along said second scanning line.

36. The vehicle classifying apparatus as claimed in claim 35, wherein said directing means comprises first and second sets of mirrors.

37. A vehicle classifying apparatus comprising:

first and second scanning means, arranged at a predetermined position above a predetermined detection zone on a lane on which a vehicle to be classified travels, for emitting first and second light beams with the first and second light beams scanned toward the predetermined detection zone on first and scanning lines and receiving the first and second light beams reflected by the vehicle at the predetermined detection zone, respectively, the first and second scanning lines extending along a longitudinal direction and a width direction of the lane, respectively;

first and second distance detection means for detecting first and second time delays between emission and receiving timings of the first and second light beams in response to the first and second scanning means and determining first and second distance data in accordance with the detected first and second time delays, respectively;

first and second outline detection means for directly detecting first and second outlines of the vehicle on first and second scanning lines defined by the first and second scanning means in accordance with the first and second distance data, respectively; and

classifying means for classifying the vehicle in accordance with the first and second outlines and outputting a classification result.

38. The vehicle classifying apparatus according to claim 37, wherein the first and second scanning means alternately emit the first and second light beams.