DE102012008608B3 - Classification method for vehicles e.g. bus, in traffic roadway, involves providing light-based distance measuring device for measuring the outer contour of the vehicles so as to detect the length and width of the vehicle - Google Patents
Classification method for vehicles e.g. bus, in traffic roadway, involves providing light-based distance measuring device for measuring the outer contour of the vehicles so as to detect the length and width of the vehicle Download PDFInfo
- Publication number
- DE102012008608B3 DE102012008608B3 DE201210008608 DE102012008608A DE102012008608B3 DE 102012008608 B3 DE102012008608 B3 DE 102012008608B3 DE 201210008608 DE201210008608 DE 201210008608 DE 102012008608 A DE102012008608 A DE 102012008608A DE 102012008608 B3 DE102012008608 B3 DE 102012008608B3
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- vehicle
- radar
- measuring device
- distance measuring
- vehicles
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Die Erfindung betrifft ein die Konturen eines Fahrzeugs erkennendes Klassifizierungsverfahren insbesondere für Fahrzeuge des Straßenverkehrs und eine Einrichtung zur Durchführung dieses Verfahrens.The invention relates to a classification process recognizing the contours of a vehicle, in particular for road vehicles, and to a device for carrying out this method.
In der deutschen Offenlegungsschrift
Bei einer Radarmessung mit einer derart angeordneten Radarantenne ist die gemessene Länge eines Fahrzeugs von dem Winkel der Bewegungsrichtung, bezogen auf die Hauptachse der Radar-Sende- und -empfangsantenne abhängig. Nähert sich – Rechtsverkehr vorausgesetzt – ein Fahrzeug der Radarantenne, so wird zunächst seine vordere linke Ecke vom Radarstrahl erfasst. Bewegt sich das Fahrzeug aus dem Radarstrahl heraus, so wird zuletzt seine hintere rechte Ecke erfasst. Es wird also nicht die Länge sondern die Diagonale des Fahrzeugs erfasst. Da weder die Länge noch die Breite des Fahrzeugs bekannt ist und diese Maße auch nicht voneinander abhängen, kann aus dem Messwert die genaue Länge des Fahrzeugs nicht ermittelt werden.In a radar measurement with a radar antenna arranged in this way, the measured length of a vehicle is dependent on the angle of the movement direction relative to the main axis of the radar transmitting and receiving antenna. If - approaching right-hand traffic - a vehicle approaches the radar antenna, its front left corner is first detected by the radar beam. If the vehicle moves out of the radar beam, then its rear right corner is detected last. It is not the length but the diagonal of the vehicle recorded. Since neither the length nor the width of the vehicle is known and these dimensions also do not depend on each other, the exact length of the vehicle can not be determined from the measured value.
In der deutschen Patentanmeldung
Mit dem ersten Radarmodul wird die horizontale Diagonale eines sich der Radar-Geschwindigkeitsmesseinrichtung nähernden Fahrzeugs und mit dem zweiten Radarmodul die horizontale Diagonale des sich von der Radar-Geschwindigkeitsmesseinrichtung entfernenden Fahrzeugs erfasst, mit Hilfe des ersten Radarmoduls wird der Abstand der Fahrzeugachsen von der rechten hinteren Ecke des Fahrzeugs und mit Hilfe des zweiten Radarmoduls der Abstand der Fahrzeugachsen von der rechten vorderen Ecke des Fahrzeugs ermittelt. Zumindest die Messwerte des ersten Radarmoduls werden gespeichert, die gespeicherten Messwerte des ersten Radarmoduls mit den Messwerten des zweiten Radarmoduls derart korreliert, dass die die Fahrzeugachsen repräsentierenden Messsignale zeitlich zur Deckung gebracht werden. Aus der Lage der mit dem ersten Radarmodul erfassten rechten hinteren Ecke und der Lage der mit dem zweiten Radarmodul erfassten rechten vorderen Ecke wird die wahre Länge des Fahrzeugs ermittelt.The first radar module detects the horizontal diagonal of a vehicle approaching the radar speed measuring device and the second radar module detects the horizontal diagonal of the vehicle removing from the radar speed measuring device; with the aid of the first radar module, the distance of the vehicle axles is from the right rear corner of the vehicle and with the aid of the second radar module determines the distance of the vehicle axles from the right front corner of the vehicle. At least the measured values of the first radar module are stored, the stored measured values of the first radar module are correlated with the measured values of the second radar module in such a way that the measuring signals representing the vehicle axes are coincident in time. From the position of the detected with the first radar right rear corner and the position of the detected with the second radar right front corner of the true length of the vehicle is determined.
Mit der letztgenannten Anordnung lässt sich die Länge eines Fahrzeugs sehr genau ermitteln, sie ist jedoch nicht in der Lage, Fahrzeuge zu unterscheiden, die zwar die gleiche Lange und den gleichen Achsabstand haben, aber unterschiedlichen Fahrzeugtypen angehören. Dies trifft beispielsweise auf Omnibusse und LKW oder Pritschenwagen und Wohnmobile zu, die jeweils auf ein und demselben Fahrgestell aufgebaut sind.With the latter arrangement, the length of a vehicle can be determined very accurately, but it is not able to distinguish vehicles that, although the same length and the same center distance, but belong to different types of vehicles. This applies for example to buses and trucks or flatbed and RVs, which are each constructed on the same chassis.
Aus der
Aufgabe der Erfindung ist es daher, ein Klassifizierungsverfahren und eine Einrichtung vorzuschlagen, die es ermöglichen, Fahrzeuge mit gleichen Abmessungen aber unterschiedlichen Typs zu unterscheiden.The object of the invention is therefore to propose a classification method and a device which make it possible to distinguish vehicles of the same dimensions but of different types.
Der verfahrensbezogene Teil der Aufgabe wird durch die Merkmale des Anspruchs 1 und der einrichtungsbezogene Teil durch die Merkmale des Anspruchs 2 gelöst.The procedural part of the object is achieved by the features of claim 1 and the device-related part by the features of claim 2.
Bei dem erfindungsgemäßen Klassifizierungsverfahren für Fahrzeuge insbesondere des Straßenverkehrs wird mit einem als Radar-Geschwindigkeitsmesseinrichtung ausgebildeten Radarmodul die horizontale Diagonale eines sich einer Radar-Geschwindigkeitsmesseinrichtung nähernden Fahrzeugs ermittelt, mit einer lichtbasierten Entfernungsmesseinrichtung die Außenkontur wenigstens der der Entfernungsmesseinrichtung zugekehrten Seite des Fahrzeugs erfasst und aus der Diagonale und der Kontur auf die Länge und Breite des Fahrzeugs und aus diesen Abmessungen und der Kontur auf die Klasse des Fahrzeugs geschlossen.In the classification method according to the invention for vehicles, in particular road traffic, with a radar module designed as a radar speed measuring device, the horizontal diagonal of one becomes Detected radar speed measuring device approaching vehicle, with a light-based distance measuring the outer contour of at least the distance measuring device facing side of the vehicle detected and closed from the diagonal and the contour on the length and width of the vehicle and from these dimensions and the contour of the class of the vehicle.
Als Klassifizierungskriterien sind bisher schon die Länge und der Achsabstand bekannt. Versuche haben ergeben, dass der Anteil eindeutig klassifizierbarer Fahrzeuge am Verkehrsaufkommen in vorteilhafter Weise deutlich erhöht wird, wenn die Breite und die Kontur der Fahrzeuge hinzu kommen.As classification criteria, the length and the center distance have been known so far. Experiments have shown that the proportion of clearly classifiable vehicles in the traffic volume is advantageously increased significantly when the width and contour of the vehicles are added.
Durch die hohe Ortsauflösung der lichtbasierten Entfernungsmesseinrichtung werden die Fahrzeuge sehr genau abgetastet und es steht damit eine detailierte Information über die Außenkontur eines Fahrzeugs zur Verfügung. Beispielsweise ist bei einem Omnibus in der Regel die Außenkontur sehr glatt und die Ecken sind stark gerundet. Die Außenkontur eines Lastkraftwagens ist im Allgemeinen wesentlich unebener und zumindest die hinteren Ecken sind scharfkantiger. Damit kann ein Omnibus bei ansonsten gleichen Daten wie die der Länge und des Achsabstandes gut von einem LKW unterschieden werden. Gleiches gilt z. B. für die Unterscheidung zwischen einem Wohnmobil und einem Klein-LKW.Due to the high spatial resolution of the light-based distance measuring device, the vehicles are scanned very accurately and there is thus a detailed information about the outer contour of a vehicle available. For example, in a bus usually the outer contour is very smooth and the corners are strongly rounded. The outer contour of a truck is generally much uneven and at least the rear corners are sharp-edged. Thus, a bus with otherwise the same data as the length and the center distance can be well distinguished from a truck. The same applies z. B. for the distinction between a motorhome and a small truck.
Die für die Durchführung des beschriebene Verfahrens ausgebildete erfindungsgemäße Klassifizierungseinrichtung für Fahrzeuge insbesondere des Straßenverkehrs ist mit einem an einem Rand einer Fahrbahn aufstellbaren oder aufgestellten Radarmodul ausgestattet, welches einen Radarsender, einen Radarempfänger, eine Radar-Sende- und -empfangsantenne und eine Auswerteeinrichtung für empfangene reflektierte Radarsignale umfasst. Dabei ist die Strahlungsachse der Radarantenne so ausgerichtet, dass sie einen spitzen Winkel mit dem Vektor der Bewegungsrichtung eines Fahrzeugs bildet, und es ist eine wenigstens einen Abtaststrahl aussendende lichtbasierte Entfernungsmesseinrichtung vorgesehen. Durch die Kombination einer Radar-Geschwindigkeits- und einer lichtbasierten Entfernungsmesseinrichtung wird eine bisher unerreicht hohe Klassifizierungsrate erzielt.The classification device according to the invention designed for carrying out the method according to the invention for vehicles, in particular road traffic, is equipped with a radar module which can be erected or erected on an edge of a roadway and which reflects a radar transmitter, a radar receiver, a radar transmitting and receiving antenna and an evaluation device for received radar Radar signals includes. In this case, the radiation axis of the radar antenna is aligned so that it forms an acute angle with the vector of the direction of movement of a vehicle, and there is provided at least one scanning beam emitting light-based distance measuring device. By combining a radar-speed and a light-based distance measuring device, a previously unattained high classification rate is achieved.
Gemäß einer ersten Ausprägung der Erfindung ist der Abtaststrahl der Entfernungsmesseinrichtung senkrecht zur Bewegungsrichtung des Fahrzeugs ausgerichtet. Damit ist es möglich, die Länge eines Fahrzeugs mit der Entfernungsmesseinrichtung zusätzlich zu erfassen.According to a first embodiment of the invention, the scanning beam of the distance measuring device is aligned perpendicular to the direction of movement of the vehicle. This makes it possible to additionally detect the length of a vehicle with the distance measuring device.
Gemäß einer anderen Ausprägung der Erfindung bildet der Abtaststrahl der Entfernungsmesseinrichtung einen spitzen Winkel mit dem Vektor der Bewegungsrichtung eines Fahrzeugs.According to another embodiment of the invention, the scanning beam of the distance measuring device forms an acute angle with the vector of the direction of movement of a vehicle.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der folgenden Beschreibung, welche in Verbindung mit den beigefügten Zeichnungen die Erfindung an Hand eines Ausführungsbeispiels erläutert. Es zeigtFurther features and advantages of the invention will become apparent from the following description, which explains the invention with reference to an embodiment in conjunction with the accompanying drawings. It shows
Das Radarmodul
In
Das Klassifizierungsergebnis der Klassifizierungseinrichtung
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 1010
- Klassifizierungseinrichtungclassifier
- 1212
- Fahrzeugvehicle
- 1414
- Fahrbahnroadway
- 1616
- Radarmodulradar module
- 1818
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Strahlungsachse von
16 Radiation axis of16 - 2020
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Bewegungsrichtung von
12 Movement direction of12 - 2222
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Außenhaut von
12 Outer skin of12 - 2424
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gerundete Ecke von
12 rounded corner of12 - 2626
- EntfernungsmesseinrichtungDistance measuring device
- 2828
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Abtaststrahl von
26 Scanning beam of26 - 3030
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Laserecho von
12 Laser echo of12 - 3232
- zweites Fahrzeugsecond vehicle
- 3434
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vordere Ecke von
32 front corner of32 - 3636
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Seitenfläche von
32 Side surface of32 - 3838
- zweites Laserechosecond laser echo
- 4040
- SpriegelSpriegel
- 4242
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hintere Ecke von
32 back corner of32 - 4444
- zweite Entfernungsmesseinrichtungsecond distance measuring device
- 4646
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zweiter Abtaststrahl von
44 second scanning beam of44 - 4848
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Bewegungsrichtung von
50 Movement direction of50 - 5050
- drittes Fahrzeugthird vehicle
- 5252
- drittes Laserechothird laser echo
- 5454
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Rückseite von
50 Back of50 - A, B, C, DA, B, C, D
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Abschnitte von
30 Sections of30 - E, F, G, HE, F, G, H
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Abschnitte von
38 Sections of38 - I, KI, K
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Abschnitte von
52 Sections of52 - LL
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Länge von
12 length of12
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE201210008608 DE102012008608B3 (en) | 2012-04-27 | 2012-04-27 | Classification method for vehicles e.g. bus, in traffic roadway, involves providing light-based distance measuring device for measuring the outer contour of the vehicles so as to detect the length and width of the vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201210008608 DE102012008608B3 (en) | 2012-04-27 | 2012-04-27 | Classification method for vehicles e.g. bus, in traffic roadway, involves providing light-based distance measuring device for measuring the outer contour of the vehicles so as to detect the length and width of the vehicle |
Publications (1)
Publication Number | Publication Date |
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DE102012008608B3 true DE102012008608B3 (en) | 2013-04-18 |
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DE201210008608 Active DE102012008608B3 (en) | 2012-04-27 | 2012-04-27 | Classification method for vehicles e.g. bus, in traffic roadway, involves providing light-based distance measuring device for measuring the outer contour of the vehicles so as to detect the length and width of the vehicle |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014008732A1 (en) * | 2014-06-19 | 2015-12-24 | Jenoptik Robot Gmbh | Method and device for monitoring a radar value of a radar system and traffic monitoring system |
JP2016142661A (en) * | 2015-02-03 | 2016-08-08 | オプテックス株式会社 | Vehicle detection device, vehicle gate system, object detection device, control method for vehicle detection device, and vehicle detection program |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5717390A (en) * | 1995-03-20 | 1998-02-10 | Hasselbring; Richard E. | Doppler-radar based automatic vehicle-classification system |
DE102008037233A1 (en) * | 2008-08-09 | 2010-03-25 | Rtb Gmbh & Co. Kg | Classification device for determining length, number of wheels, and distribution of axles over length of vehicle, has speed measuring device, which is arranged beside roadway for rotating wheel rolling on roadway |
DE102010010656A1 (en) * | 2010-03-09 | 2011-09-15 | Rtb Gmbh & Co. Kg | Method for classifying cars in road traffic for determining length of cars, involves recognizing car position from position of right rear and front edges of cars, and determining distance of car axles from right front edge radar module |
-
2012
- 2012-04-27 DE DE201210008608 patent/DE102012008608B3/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5717390A (en) * | 1995-03-20 | 1998-02-10 | Hasselbring; Richard E. | Doppler-radar based automatic vehicle-classification system |
DE102008037233A1 (en) * | 2008-08-09 | 2010-03-25 | Rtb Gmbh & Co. Kg | Classification device for determining length, number of wheels, and distribution of axles over length of vehicle, has speed measuring device, which is arranged beside roadway for rotating wheel rolling on roadway |
DE102010010656A1 (en) * | 2010-03-09 | 2011-09-15 | Rtb Gmbh & Co. Kg | Method for classifying cars in road traffic for determining length of cars, involves recognizing car position from position of right rear and front edges of cars, and determining distance of car axles from right front edge radar module |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014008732A1 (en) * | 2014-06-19 | 2015-12-24 | Jenoptik Robot Gmbh | Method and device for monitoring a radar value of a radar system and traffic monitoring system |
DE102014008732B4 (en) * | 2014-06-19 | 2020-12-31 | Jenoptik Robot Gmbh | Traffic monitoring system for monitoring a detection area of a traffic area |
JP2016142661A (en) * | 2015-02-03 | 2016-08-08 | オプテックス株式会社 | Vehicle detection device, vehicle gate system, object detection device, control method for vehicle detection device, and vehicle detection program |
US10274586B2 (en) | 2015-02-03 | 2019-04-30 | Optex Co., Ltd. | Vehicle detection device, vehicle gate system, and method of controlling vehicle detection device |
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