JPS6010112A - Measurement of traffic flow - Google Patents

Measurement of traffic flow

Info

Publication number
JPS6010112A
JPS6010112A JP58119217A JP11921783A JPS6010112A JP S6010112 A JPS6010112 A JP S6010112A JP 58119217 A JP58119217 A JP 58119217A JP 11921783 A JP11921783 A JP 11921783A JP S6010112 A JPS6010112 A JP S6010112A
Authority
JP
Japan
Prior art keywords
vehicle
reference point
photographing
road
road surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP58119217A
Other languages
Japanese (ja)
Inventor
Takuya Yamahira
山平　拓也
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Nippon Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp, Nippon Electric Co Ltd filed Critical NEC Corp
Priority to JP58119217A priority Critical patent/JPS6010112A/en
Publication of JPS6010112A publication Critical patent/JPS6010112A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • Finance (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Optical Distance (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

PURPOSE:To enable detection of position of vehicle, by installing two cameras with different distance and height from the reference point and displaying with distance the apparent front and rear position obtained from an image signal. CONSTITUTION:The reference point is defined as P0, heights of cameras: f, e from the point P0, h2, h1. The apparent rear position of a vehicle B to be measured from the camera e is defined as K2 and the rear position as K4. As DELTAeK5K1 and DELTAy1P1K1 and DELTAfK6K3 and DELTAy1P1K3 are similar, the distance l1 between vehicle front position P1 and reference point P0 is obtained. Similarly the rear position distance l2, etc. are obtained. Thus, from the vehicle existing position obtained by a single camera, an accurate position of the vehicle can become avilable. By sequential or simultaneous processing, vehicle existing position, vehicle height, between-vehicle distance, vehicle length, etc. can be detected consecutively or simultaneously.

Description

【発明の詳細な説明】 本発明は、交通流計測装置、特に道路面上に存在する車
両の存在位量の検出、車高の検出、車両間隔の検出、車
長の検出，車両速度の検出、および雑音の検出を行なう
ための交通流計測装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traffic flow measuring device, particularly for detecting the amount of vehicles existing on a road surface, detecting vehicle height, detecting vehicle distance, detecting vehicle length, and detecting vehicle speed. , and a traffic flow measuring device for detecting noise.

一般に、自動車道路の安全かつ円滑な交通流の確保のた
めには、道路面上の車両の存在位置、車両速度、車種等
の検出装置が是非とも必要とされる０ 従来の交通流計測装置は、道路交通における車両感知器
として、超音波センサあるいは磁気コイルセンサ等が用
いられているが、これらはいずれも測定地点での車両の
挙動のみが測定され、他地域の情報はこれらのデータを
基に推定されていたので、精度上に問題がおった。Generally, in order to ensure safe and smooth traffic flow on motorways, a device that detects the location of vehicles on the road surface, vehicle speed, vehicle type, etc. is absolutely necessary. Conventional traffic flow measuring devices are , Ultrasonic sensors or magnetic coil sensors are used as vehicle detectors in road traffic, but these only measure the behavior of the vehicle at the measurement point, and information for other areas is not based on this data. There was a problem with accuracy.

一方、道路面上をある程度広い範囲に渡って計測する車
両感知器としては、テレビ力メシを用いたものが提案さ
れている。On the other hand, as a vehicle sensor that measures the road surface over a fairly wide range, a vehicle sensor using a TV sensor has been proposed.

これらの例として、車線上の車両の先頭位置と末尾位置
を自動計測する車両存在位置検出方式は、同一出願人に
よる特願昭５　５−１８４５９１号明細書「車両存在位
置検出方式」、特願昭５６−０１２５２３号明細書「車
両存在位置検出方式」で詳細に述べられている。As an example of these, a vehicle presence position detection method that automatically measures the leading and trailing positions of vehicles on a lane is disclosed in Japanese Patent Application No. 1983-184591 "Vehicle Presence Position Detection Method" filed by the same applicant. This method is described in detail in ``Vehicle Existence Position Detection System'' in the specification of 1982-012523.

これらの方式では、一台の撮影装置により道路を俯Ｖ＃
撮影して得られた映像情報を用いているが、このとき、
車の高さにより車が道路面上では車の長さより長い部分
を’ＪＩＥ−）ていることを考慮していないため、実際
の位置とは異なった位置に決定される。In these methods, the road is viewed from above using a single imaging device.
The video information obtained by shooting is used, but at this time,
The position is determined to be different from the actual position because it does not take into account that due to the height of the car, the part of the car on the road surface is longer than the length of the car.

例えば、第１図に示す従来の計測装置の一例の原理説明
図のように、設置点ａに撮影装置を設置し、進行方向ｂ
Ｋ進行する車両Ａを俯諏撮影すると、車両八の実際の先
頭位置が先頭泣置Ｃであるにもかかわらず、車両人の映
像が道路面上の車の長さより長い部分を覆っていること
を考慮していないため、車両人の先頭位置は先頭位置ｄ
に決定される。For example, as shown in the principle explanatory diagram of an example of a conventional measuring device shown in FIG. 1, an imaging device is installed at an installation point a, and
K When photographing a moving vehicle A from above, the image of the vehicle covers a portion of the road surface that is longer than the length of the car, even though the actual leading position of vehicle 8 is the leading position C. Since this is not taken into consideration, the head position of the vehicle person is the head position d.
determined.

本発明の主な目的は、前記欠点を解消するために互に異
なる位置に設置された撮影装置から得られた画像情報か
ら交通流計測に要する各種のデータを高精度に得ること
のできる装置を提供することにある。詳しくは第一に車
線上の車両の存在位置を精度良く自動計測する装置を提
供することであり、第二に車線上の車両の車高を精度良
く自動計測する装置を提供することであり、第三に車線
上の車両と車両の間隔と、車両の長さを精度良く自動計
測する装置を提供することであり、第四に車線上の車両
の速度を精度良く自動計測する装置を提供することであ
９、第五に車線上の文字やよごれ等による車両でない情
報を検出し、雑音として車両と区別して自動計測する装
置を提供することにある。The main purpose of the present invention is to provide a device that can obtain various types of data required for traffic flow measurement with high precision from image information obtained from photographic devices installed at different positions in order to eliminate the above-mentioned drawbacks. It is about providing. Specifically, the first objective is to provide a device that automatically measures the position of a vehicle on a lane with high accuracy, and the second objective is to provide a device that automatically measures the height of a vehicle on a lane with high accuracy. Thirdly, the present invention provides a device that automatically measures the distance between vehicles on the lane and the length of the vehicle with high precision.Fourthly, the purpose of the present invention is to provide a device that automatically measures the speed of the vehicle on the lane with high precision. Fifth, it is an object of the present invention to provide a device that detects non-vehicle information such as letters or dirt on a lane, distinguishes it from a vehicle as noise, and automatically measures the information.

本発明の交通流計測装置は、路面上方より撮影装置によ
シ俯轍撮影して得られた映像信号を用いて道路上の車両
等の交通流を計測する装置において，道路面上の一点を
基準点として基準点からΔＸ前方の路面上方の高さｈ，
に設置した第１の撮影装置によシ道路を俯諏撮影し基準
点からΔｙ前方の路面上方の高さｈ，にｌ１＋＞ｌｌｌ
＋　なる関係をもって設置された第２の撮影装置によシ
道路を俯敞撮影し第１の撮影装置により撮影して得られ
た映像信号から道路面上に存在する車両のみかけ上の先
頭位置ｒとみかけ上の末尾位置Ｓを基準点からの距離で
決定し前記車両を第２の撮影装置により撮影して得られ
た映像信号から道路面上に存在する車両のみかけ上の先
頭位置ｐとみかけ上の末尾位置ｑを基準点からの距離で
決定するための車両位置決定手段と、前記２台の撮影装
置が車両が遠ざかる方向から道路を俯撤撮影する場合車
両末尾位置の基準点からの距離を［ｈｔｑ（ｓ一Δｘ）
−１１，ｓ（ｑ−Δｙ））／（ｈ２（８−Δｘ）ｂ１（
ｑ−Δｙ月により演算し、車両先頭位置の基準点からの
距離を｛ｈｔｐ（ｒ−Δｘ）−ｈ，ｒ（ｐ一Δｙ））／
｛ｈｚ（ｒ−Δｘ）−ｂ＋（ｐ−Δｙ月により演算して
得るだめの車両存在位置検出手段とを含んで構成される
。The traffic flow measuring device of the present invention is a device that measures the traffic flow of vehicles, etc. on a road using a video signal obtained by photographing tracks from above using a photographing device from above the road surface. As a reference point, the height h above the road surface in front of ΔX from the reference point,
The first photographing device installed at
The apparent leading position r of the vehicle on the road surface is determined from the video signal obtained by photographing the road from above with the second photographing device installed in such a relationship as +, and by photographing with the first photographing device. The apparent trailing position S is determined based on the distance from the reference point, and the apparent leading position P of the vehicle existing on the road surface is determined from the video signal obtained by photographing the vehicle with a second photographing device. A vehicle position determining means for determining the above tail position q based on the distance from the reference point, and a distance from the reference point of the vehicle tail position when the two photographing devices take a downward view photograph of the road from the direction in which the vehicle is moving away. [htq(s-Δx)
-11,s(q-Δy))/(h2(8-Δx)b1(
Calculate the distance of the vehicle head position from the reference point by {htp(r-Δx)-h,r(p-Δy))/
{hz(r-Δx)-b+(p-Δy)

さらに、本発明の交通流計測装置は、路面上方より撮影
装置により俯敵撮影して得られた映像信号を用いて道路
上の車両等の交通流を計測する装置において、道路面上
の一点を基準点として基準点からΔＸ前方の路面上方の
高さｈ１に設置した第１の撮影装置にエリ道路を俯轍撮
影し基準点からΔｙ前方の路面上方の高さｈ２にｈ，，
＞ｈ，なる関係をもって設置された第２の撮影装置によ
り道路を俯敵撮影し第１の撮影装置により撮影して得ら
れた映像信号から道路面上に存在する車両のみかけ上の
先頭位置ｒとみかけ上の末尾位置Ｓを基準点からの距離
で決定し前記車両を第２の撮影装置によｐ撮影して得ら
れた映像信号から道路面上に存在する車両のみかけ上の
先頭位置ｐとみかけ上の末尾位置ｑを基準点からの距離
で決定するための車両位置決定手段と、前記２台の撮影
装置が車両が遠ざかる方向から道路を俯敵撮影する場合
車両の前部の高さをｈ１ｈ２（ｒ　Ｉ））／（ｈ２　Ｃ
ｒ−ΔＸ）ｂ＋（ｐ−Δｙ））　により演算し、車両の
後部車底の高さをｈｒ　ｈｔ　（Ｓ−Ｑ）／（ｈ，　（
ｓ一Δｘ）ｈｔ（ｑ−Δｙ月により演算して得るための
車高検出手段とを含んで構成される。Furthermore, the traffic flow measurement device of the present invention is a device that measures traffic flow of vehicles, etc. on a road using a video signal obtained by overhead photographing using a photographing device from above the road surface. A first photographic device installed as a reference point at a height h1 above the road surface ΔX ahead of the reference point is used to photograph the area road from above at a height h2 above the road surface Δy ahead from the reference point.
> h, the apparent head position r of the vehicle on the road surface is determined from the video signal obtained by photographing the road from above with the second photographing device installed with the relationship such that the first photographing device photographs the road. The apparent trailing position S of the vehicle on the road surface is determined by the distance from the reference point, and the vehicle is photographed using a second photographing device, and the resulting video signal is used to determine the apparent leading position P of the vehicle on the road surface. a vehicle position determining means for determining the apparent trailing position q based on the distance from a reference point; and a height of the front part of the vehicle when the two photographing devices take an overhead photograph of the road from a direction in which the vehicle is moving away. h1h2(r I))/(h2 C
r-ΔX)b+(p-Δy)), and the height of the rear bottom of the vehicle is calculated as hr ht (S-Q)/(h, (
s-Δx)ht(q-Δy).

さらに、本発明の交通流計測装置は、路面上方より撮影
装置によジ俯撒撮影して得られた映像信号を用いて道路
上の車両等の交通流を計測する装置において、道路面上
の一点を基準点として基準点からΔＸ前方の路面上方の
高さｈ，に設置した第１の撮影装置により道路を俯諏撮
影し基準点からΔｙ前方の路面上方の高さｈｔＫｈｚ＞
ｂ＋なる関係をもって設置された第２の撮影装置により
道路を俯敵撮影し第１の撮影装置により撮影して得られ
た映像信号から道路面上に存在する車両のみかけ上の先
頭位置ｒとみかけ上の末尾位置Ｓを基準点からの距離で
決定し前記車両を第２の撮影装置により撮影して得られ
た映像信号から道路面上に存在する車両のみかけ上の先
頭位置ｐとみかけ上の末尾位置ｑを基準点からの距離で
決定するための車両位置決定手段と、前記２台の撮影装
置が車両が遠ざかる方向から道路を俯敵撮影する場合車
両末尾位置の基準点からの距離を（ｈｚｑ（ｓ−Δｘ）
−１１＋Ｓ（’ｑ−Δｙ月Ａ１２（Ｓ一Δｘ）一ｈ，（
ｑ一Δｙ））により演算し、車両先頭位置の基準点から
の距離を（ｈ２１）（ｒ−Δｘ）−ｈ，ｒ（ｐ−Δｙ）
）／｛ｈｔ（ｒ−ΔＸ）−ｈ＋（ｐ−Δｙ））　により
演算して得るための車両存在位置検出手Ｉｔと、同一車
線上に車両が複数台存在する場合は基準点から遠方に存
在する車両から順に番号を付けｉ番目の車両の先頭位置
をａ１末尾位置をｂ，としｉ番目の車両とｉ＋１番目の
車両の間隔をｂｌ　ａｌ＋１によ９演算ｄｔ１ｉＬｔ−
ｂ，により演算して得るための車両間隔・車両検出手段
とを含んで構成される。Furthermore, the traffic flow measuring device of the present invention is a device for measuring the traffic flow of vehicles on a road using video signals obtained by overhead shooting with a photographing device from above the road surface. Using one point as a reference point, the first photographing device installed at a height h above the road surface in front of the reference point by ΔX takes an overhead photograph of the road, and the height above the road surface in front of the reference point by Δy htKhz>
The road is photographed from above by a second photographing device installed with a relationship of b+, and from the video signal obtained by photographing by the first photographing device, the apparent leading position r of the vehicle existing on the road surface is determined. The upper end position S is determined based on the distance from the reference point, and the apparent leading position P of the vehicle on the road surface is determined from the video signal obtained by photographing the vehicle with a second photographing device. A vehicle position determination means for determining the tail position q based on the distance from the reference point; hzz(s-Δx)
−11+S('q−Δy month A12(S−Δx)−h,(
q - Δy)), and the distance of the vehicle leading position from the reference point is (h21)(r-Δx)-h, r(p-Δy)
)/{ht(r-ΔX)-h+(p-Δy)) Number the vehicles in order starting from
The vehicle interval/vehicle detection means is configured to calculate and obtain the vehicle interval by the method b.

さらに、本発明の交通流計測装置は、路面上方よシ撮影
装置によｐ俯敞撮影して得られた映像信号を用いて道路
上の車両等の交通流を計測する装置において道路面上の
一点を基準点として基準点からΔＸ前方の路面上方の高
さｈ１に設置した第１の撮影装置によシ道路を俯敞撮影
し基準点からΔｙ前方の路面上方の高さｈ２にｈｚ＞ｈ
ｓ　なる関係をもって設置された第２の撮影装置により
道路を俯諏撮影し第１の撮影装置によｐ撮影して得られ
た映像信号から道路面上に存在する車画のみかけ上の先
頭位置ｒとみかけ上の末尾位置Ｓを基準点からの距離で
決定し前記車両を第２の撮影装置により撮影して得られ
た映像信号から道路面上に存在する車両のみかけ上の先
頭位置ｐとみかけ上の末尾位置ｔを基準点からの距離で
決定するための車両位置決定手段と、前記２台の撮影装
置が車両が遠ざかる方向から道路を俯諏撮影する場合車
両末尾位置の基準点からの距離を（ｈｚｑ（Ｓ−ΔＸ）
ｈ＋ｓ（ｑ−Δｙ月／｛１１２（Ｓ−ΔＸ）”＋（ｑ一
Δｙ月により演算し、車両先頭位置の基準点からの距離
を（ｈｚｐ（ｒ−Δｘ）−ｂ，ｒ（ｐ一Δｙ））／（ｈ
２（ｒ−ΔＸ）”＋（ｐ−Δｙ）｝により演算して得る
ための車両存在位置検出手段と、前記車両位置決定手段
と車両存在位置検出手段により予め指定された時間間隔
ｊｉおいて得られる同一車両の第１の代表位置の基準点
からＱ距離１ｃ１と第２の代表位置の基準点からの距離
６２から（ｃ２−δ１）／ｔを演算して車両速度を得る
ための車両速度検出手段とを含んで構成される。Further, the traffic flow measurement device of the present invention is a device for measuring traffic flow of vehicles on a road using a video signal obtained by photographing from above the road surface using a photographing device from above the road surface. Using one point as a reference point, the first photographing device installed at a height h1 above the road surface ΔX forward from the reference point takes an overhead photograph of the road and calculates hz>h at a height h2 above the road surface Δy ahead from the reference point.
s The apparent head position of the vehicle image existing on the road surface is determined from the video signal obtained by taking a bird's-eye view of the road with a second photographing device installed with the following relationship, and by taking a vertical photograph with the first photographing device. r and the apparent tail position S are determined based on the distance from the reference point, and the apparent head position p of the vehicle on the road surface is determined from the video signal obtained by photographing the vehicle with a second photographing device. vehicle position determination means for determining the apparent tail position t from the reference point; The distance is (hzq(S-ΔX)
h+s(q-Δy month/{112(S-ΔX)"+(q-Δy month), and calculate the distance of the vehicle leading position from the reference point as (hzp(r-Δx)-b, r(p-Δy ))/(h
2(r-ΔX)"+(p-Δy)}; Vehicle speed detection for obtaining vehicle speed by calculating (c2-δ1)/t from Q distance 1c1 from the reference point of the first representative position of the same vehicle and distance 62 from the reference point of the second representative position means.

さらに、本発明の交通流計測装置は、路面上方より撮影
装置により俯轍撮影して得られた映像信号を用いて道路
上の車両等の交通流を計測する装置において、道路面上
の一点を基準点として基準点からΔＸ前方の路面上方の
高さｈ，に設置した第１の撮影装置により道路を俯識撮
影し基準点からΔｙ前方の路面上方の高さｈ，にｈ，）
ｈ，　なる関係をもって設置された第２の撮影装置によ
り道路を俯諏撮影し第１の撮影装置により撮影して得ら
れた映像信号から道路面上に存在する車両のみかけ上の
先頭位置ｒとみかけ上の末尾位置Ｓを基準点からの距離
で決定し前記車両を第２の撮影装置によシ撮影して得ら
れた映像信号から道路面上に存在する車両のみかけ上の
先頭位置ｐとみかけ上の末尾位置ｑを基準点からの距離
で決定するための車両位置決定手段と、前記２台の撮影
装置が車両が遠ざかる方向から道路を俯撤撮影する場合
前記２台の撮影装置による映像信号から得られた車両の
みかけ上の先頭位置と末尾位置の基準点からの距離がｒ
”　ｐ＋≦＝ｑなる２つの条件を同時に満足する場合に
路上文字やよごれによる雑音とみなして車両と区別して
計測する手段とを含んで構成される。Furthermore, the traffic flow measurement device of the present invention is a device for measuring traffic flow of vehicles, etc. on a road using a video signal obtained by photographing overhead tracks from above the road surface using a photographing device. The first photographing device installed as a reference point at a height h above the road surface ΔX ahead of the reference point takes an overview photograph of the road, and the height h above the road surface Δy ahead from the reference point is taken.
h, The apparent leading position r of the vehicle on the road surface is determined from the video signal obtained by photographing the road from a bird's-eye view using the second photographing device installed in the following relationship and by the first photographing device. The apparent trailing position S is determined by the distance from the reference point, and the apparent leading position P of the vehicle on the road surface is determined from the video signal obtained by photographing the vehicle with a second photographing device. a vehicle position determining means for determining the apparent tail position q based on the distance from a reference point; and an image captured by the two photographing devices when the two photographing devices photograph the road from above in a direction in which the vehicle is moving away from the vehicle; The distance from the reference point of the vehicle's apparent leading and trailing positions obtained from the signal is r
"If the two conditions p+≦=q are satisfied at the same time, the noise is regarded as noise due to road writing or dirt, and the noise is distinguished from the vehicle and measured.

次に本発明の原理について、図面を参照して詳細に説明
する。Next, the principle of the present invention will be explained in detail with reference to the drawings.

まず車両の存在位置の検出について述べる。First, detection of the location of a vehicle will be described.

第２図は、本発明の交通流計測装置の１つの原理説明図
である。FIG. 2 is an explanatory diagram of one principle of the traffic flow measuring device of the present invention.

第２図に示す原理説明図において、ｅとｆは撮影装置で
あり、Ｂは被測定車であるＯｇは進行方向、ＰＩとＰ２
　は被測定車Ｂの車両先頭位置と車両末尾位置である。In the principle explanatory diagram shown in Fig. 2, e and f are photographing devices, B is the vehicle to be measured, Og is the traveling direction, PI and P2
are the vehicle leading position and the vehicle tailing position of vehicle B to be measured.

Ｐ０は基準点、ｈ，は撮影装置ｅの設置位置の基準点Ｐ
。からの高さ、，ｈ２は撮影装置ｆの設置位置の基準点
Ｐ。がらの高さであるＯ ｒは撮影装置ｅにより得られた被測定車Ｂのみかけ上の
先頭位置Ｋ１の基準点Ｐ。からの距離、Ｓは撮影装置ｅ
により得られた被測定車Ｂのみかけ上の末尾位＠】（２
０基準点Ｐ。からの距離、ｐは撮影装ｉｆにより得られ
た被測定車Ｂのみかけ上の先頭位置Ｋ，の基準点Ｐ。か
らの距離、ｑは撮影装置ｆにより得られた被測定車Ｂの
みかけ上の末尾位ＩＩＫ，の基準点Ｐ。からの距離を示
す。P0 is the reference point, and h is the reference point P at the installation position of the imaging device e.
. The height from , h2 is the reference point P of the installation position of the photographing device f. Or, which is the height of the scrap, is the reference point P of the apparent leading position K1 of the vehicle to be measured B obtained by the photographing device e. distance from, S is the photographing device e
The apparent tail end position of measured vehicle B obtained by @](2
0 reference point P. The distance from P is the reference point P of the apparent leading position K of the vehicle B to be measured obtained by the imaging device if. The distance from q is the reference point P of the apparent tail position IIK of the vehicle B to be measured obtained by the photographing device f. Indicates distance from.

ΔＸは撮影装置ｅの直下の路上位置Ｋ，の基準点からの
距離、Δｙは撮影装ｉｆの直下の路上位置Ｋ６の基準点
からの距離を示す。ΔX represents the distance from the reference point to the road position K directly below the photographing device e, and Δy represents the distance from the reference point to the road position K6 directly below the photographing device if.

このときには、被測定車Ｂの車両先頭位置Ｐ，と基準点
Ｐ。との距離１，は、撮影装置ｅと路上位置Ｋ，と被測
定車Ｂのみかけ上の先頭位置Ｋ，による三角形と、被測
定車Ｂの前部屋根ｙ，と、車両先頭位置Ｐ１　と被測定
車Ｂのみかけ上の先頭位置Ｋ，による三角形が相似であ
ることと、撮影装置ｆと路上位置Ｋ６とみかけ上の先頭
位置Ｋ３による三角形と、被測定車Ｂの前部屋根ｙ１と
車両先頭位置Ｐ，と被測定車Ｂのみかけ上の先頭位置Ｋ
３による三角形が相似であることによりｔ，＝（ｈｚｐ
（ｒ−ΔＸ）　ｈｔｒ（ｐ一Δｙ）｝／｛ｈ２（ｒ−Δ
．ｘ）ｂ＋（ｐ一Δｙ））でめられる。At this time, the vehicle leading position P of the vehicle to be measured B and the reference point P. The distance 1 between the photographing device e and the road position K, the triangle formed by the apparent leading position K of the vehicle to be measured, the front room root y of the vehicle to be measured, and the leading position P1 of the vehicle and the vehicle being measured. The triangles formed by the apparent head position K of the measuring vehicle B are similar, and the triangles formed by the photographing device f, the road position K6, and the apparent head position K3, the front root y1 of the measured vehicle B, and the vehicle head. position P, and the apparent leading position K of vehicle B to be measured.
Since the triangles according to 3 are similar, t,=(hzp
(r-ΔX) htr(p-Δy)}/{h2(r-Δ
．． x)b+(p-Δy)).

また、被測定車Ｂの車両末尾位置Ｐ２と基３■点Ｐ０と
の距離ｔ２は、撮影装置ｅと路上位置Ｋ，と被測定車Ｂ
のみかけ上の末尾位置Ｋ，による三角形と、被測定車Ｂ
の後部車底ｙ２．と車両末尾位置Ｐ２と被測定車Ｂのみ
かけ上の末尾位置Ｋ２による三角形が相似であることと
、撮影装置ｆと路上位置Ｋ６とみかけ上の末尾位置Ｋ４
による三角形と、被測定車Ｂの後部車底ｙ２と車両末尾
位置Ｐ２と被測定車Ｂのみかけ上の末尾位置Ｋ４による
三角形が相似であることに工りｔ２＝｛ｈ２ｑ（Ｓ−Δ
ｘ）　”＋Ｓ（ｑ−Δｙ））／｛ｈｚ（ｓ−Δｘ）−ｈ
１（ｑ一Δｙ））でめられる。Furthermore, the distance t2 between the vehicle tail position P2 of the vehicle to be measured B and the base point P0 is the distance t2 between the vehicle tail position P2 of the vehicle to be measured and the base point P0.
The triangle with the apparent end position K, and the vehicle to be measured B
rear car bottom y2. The triangles formed by the vehicle tail position P2 and the apparent tail position K2 of the vehicle to be measured are similar, and the photographing device f, the road position K6, and the apparent tail position K4.
t2={h2q(S-Δ
x) ”+S(q-Δy))/{hz(s-Δx)-h
1 (q - Δy)).

上述のように２台の撮影装置ｅ，ｆを用いることで、従
来１台の撮影装置で得られていた車両の存在位置よク正
確な車両の存在位置が得られる。By using the two photographing devices e and f as described above, a more accurate vehicle position can be obtained than the vehicle position conventionally obtained with one photographing device.

第３図は本発明交通流計測装置の車両の存在位置を検出
する装置の構成を明示するための構成図である。FIG. 3 is a configuration diagram for clearly showing the configuration of a device for detecting the location of a vehicle in the traffic flow measuring device of the present invention.

車両位置決定手段１は路面上方＋１１の高さに設置され
た撮影装置２から得られた映像信号を処理し、車両のみ
かけ上の先頭位置とみかけ上の末尾位置の基準点からの
距離を車両存在位置決定手段３へ送り、車両位置決定器
４は路面上方ｈ！の高さに設置された撮影装置５から得
られた映像信号を処理し、車両のみかけ上の先頭位置と
みかけ上の末尾位置の基準点からの距離を車両存在位置
決定手段３へ送る。また車両位置決定手段１と４は２台
の撮影装置２と５が同一時刻に撮影した映像信号から車
両を検出し、映像信号から検出されたすべての車両のみ
かけ上の先頭位置とみかけ上の末尾位置の基準点からの
距離を逐次出力している０車両存在位置決定手段３は車
両位置決定手段１と４から車両のみかけ上の先頭位置と
みかけ上の末尾位置を受けとり、それらを記憶する。ま
た車両位置決定手段１と４が１フレーム中の映像信号か
らすべての車両のみかけ上の先頭位置とみかけ上の末尾
位置を検出し終えた時点で各々の車両のみかけ上の先頭
位置とみかけ上の末尾位置の基準点からの距離から車両
先頭位置と、車両末尾位置の基準点からの距離を算出す
る。The vehicle position determining means 1 processes the video signal obtained from the photographing device 2 installed at a height of +11 above the road surface, and calculates the distance from the reference point of the apparent leading position of the vehicle and the apparent trailing position of the vehicle. The vehicle position determiner 4 sends the data to the vehicle position determining means 3, and the vehicle position determiner 4 indicates that the vehicle is located above the road surface h! The video signal obtained from the photographing device 5 installed at the height of is processed and the distances of the apparent leading position and the apparent trailing position of the vehicle from the reference point are sent to the vehicle existing position determination means 3. Further, the vehicle position determining means 1 and 4 detect vehicles from the video signals taken at the same time by the two photographing devices 2 and 5, and determine the apparent leading position of all the vehicles detected from the video signals. The zero vehicle presence position determination means 3, which sequentially outputs the distance of the tail position from the reference point, receives the apparent head position and the apparent tail position of the vehicle from the vehicle position determination means 1 and 4, and stores them. . Furthermore, when the vehicle position determining means 1 and 4 finish detecting the apparent leading position and the apparent tailing position of all vehicles from the video signal in one frame, the apparent leading position and the apparent tailing position of each vehicle are determined. The vehicle head position and the distance from the vehicle tail position from the reference point are calculated from the distance from the reference point to the tail position of the vehicle.

次に本発明の実施例について図面を参照して説明する。Next, embodiments of the present invention will be described with reference to the drawings.

第４図は本発明の交通流計測装置の車両の存在位置を検
出する装置の一実施例を示す。FIG. 4 shows an embodiment of a device for detecting the location of a vehicle in the traffic flow measuring device of the present invention.

第４図に示す交通流計測装置において１と４は車両位置
決定手段、２と５は撮影装置である。２治の撮影装置２
と５により同一時刻に撮影された映像信号は車両位置決
定器１と４に送られる。In the traffic flow measuring device shown in FIG. 4, 1 and 4 are vehicle position determining means, and 2 and 5 are photographing devices. 2ji's photography equipment 2
and 5, video signals taken at the same time are sent to vehicle position determiners 1 and 4.

車両位置決定手段１と４では車両のみかけ上の先頭位置
とみかけ上の末尾位置の基準点からの距離を出力する。The vehicle position determination means 1 and 4 output the distances of the apparent head position and the apparent tail position of the vehicle from the reference point.

例えば前記特願昭５　５−１８４５９１号明細書および
特願昭５６−０１２５２３号明細書により車両のみかけ
上の先頭位置とみかけ上の末尾位置の走査線番号をめる
方式が詳細に述べられておｐ１また同一出願人による特
願＠５６−１９９８３６号明細書「車両存在位置検出装
置」には、走査線番号の対応する道路上の位置の基準点
からの距離をめる装置が詳細に述べられている。For example, the Japanese Patent Application No. 5-5-184591 and the specification of Japanese Patent Application No. 56-012523 describe in detail a system for calculating scanning line numbers at the apparent leading position and the apparent trailing position of a vehicle. Also, the patent application No. 56-199836 filed by the same applicant entitled "Vehicle Existence Position Detection Device" describes in detail a device for calculating the distance from the reference point of the position on the road corresponding to the scanning line number. It is being

マイクロコンピー−ク６は第３図における車両存在位置
決定手段３をマイクロコンビ，一夕によク実現したもの
で主に中央演算装置７と、記憶装置８と、人出力信号処
理回路９とから構成されてイル。マイクロコンピュータ
６では入出力信号処理回路９に車両位置決定器１と４か
ら車両のみかけ上の先頭位置とみかけ上の末尾位置の基
準点からの距離の検出を示す信号が送られると、その距
離の値を入力し記憶装置８に格納するＯｔた検出された
車両の台数をカウントし記憶装置８に格納する０車両位
置検出器１と４から、１フレーム中の映像信号から検出
されたすべての車両のみかけ上の先頭位置とみかけ上の
末尾位置の検出の終了したことを示す信号を受けとると
、中央演算装置７により２台の撮影装置による映像信号
から得られた車両の同定を行ない車両の存在位置を算出
する。例えば車両の同定は前記車両のみかけ上の先頭位
置とみかけ上の末尾位置がｒ≧Ｐ′≧ｄ≧ｑなる関係を
満たす車両を同一とみなすことにより行なうことができ
る。The microcompeaker 6 is a microcombiner that instantly realizes the vehicle location determining means 3 in FIG. configured il. In the microcomputer 6, when a signal indicating the detection of the distance from the reference point of the apparent leading position and the apparent tailing position of the vehicle is sent from the vehicle position determiners 1 and 4 to the input/output signal processing circuit 9, the distance is determined. Count the number of detected vehicles and store it in the storage device 8. From the vehicle position detectors 1 and 4, count all the detected vehicles from the video signal in one frame. When the central processing unit 7 receives a signal indicating that the detection of the apparent leading position and the apparent trailing position of the vehicle has been completed, the central processing unit 7 identifies the vehicle obtained from the video signals from the two photographing devices, and identifies the vehicle. Calculate the location. For example, vehicles can be identified by regarding vehicles whose apparent leading position and apparent tailing position satisfy the relationship r≧P'≧d≧q to be the same.

上述のｉイクロコンビ一一夕６の車両の存在位置をめる
までの実行を示すフローチャートを第５図に示す。なお
図中のＲ，〜Ｒ２，はフローチャートの各ステ，プを示
す。FIG. 5 is a flowchart showing the execution of the above-mentioned i-microcombi Ichiyo 6 until it determines the location of the vehicle. Note that R and ~R2 in the figure indicate each step of the flowchart.

第１にＲ，で車両位置決定手段１ま１ヒは４から信号を
受けとると，Ｒ３でその信号が１台の車両のみかけ上の
先頭位置とみかけ上の末尾位置がまクたことを示すもの
か、１フレーム中の映像信号からすべての車両のみかけ
上の先頭位置と末尾位置の検出が終了したことを示すも
のかを判定する０ 几，の判定で、１台の車両のみかけ上の先頭位置とみか
け上の末尾位置がまったことを示す信号であれば、その
信号が車両位置決定手段１と４のうちどちらから人力さ
れたものかをＲ番によ９判定する。Ｒ，の判定で車両位
置決定手段１から人力された信号であれば、，Ｒ，にお
いて車両位置決定手段１から車両のみかけ上の先頭位置
とみかけ上の末尾位置の基準点からの距離を入力し、Ｒ
６において車両位置決定手段１によシ検出された車両の
台数を１増加させる。その後几７において車両位置決定
手段１に対応する記憶装置８の記憶部に車両のみかけ上
の先頭位置とみかけ上の末尾位置の基準点からの距離と
、検出された車両の台数を格納し、ＩＬ，にもどる。Ｒ
４において車両位置決定手段４から人力された信号であ
れば，几，において車両位置決定手段４から車両のみか
け上の先頭位置とみかけ上の末尾位置の基準点からの距
離を人力し、几。において車両位置決定手段４により検
出された車両の台数を１増加する。その後Ｒ１。におい
て車両位置決定手段４に対応する記憶装置８の記憶部に
車両のみかけ上の先頭位置とみかけ上の末尾位置の基準
点からの距離と、検出された車両の台数を格納し、Ｒ−
２にもどる。First, at R, when the vehicle position determining means 1 or 1 receives a signal from 4, the signal at R3 indicates that the apparent leading position and the apparent trailing position of one vehicle have crossed each other. 0 几, which determines whether the detection of the apparent leading and trailing positions of all vehicles from the video signal in one frame has been completed. If the signal indicates that the leading position and the apparent trailing position are aligned, it is determined by the R number which of the vehicle position determination means 1 and 4 the signal was manually input from. If the signal is manually input from the vehicle position determining means 1 in the determination of R, then input the distance from the reference point of the apparent leading position and the apparent trailing position of the vehicle from the vehicle position determining means 1 in R. R
6, the number of vehicles detected by the vehicle position determining means 1 is increased by one. Thereafter, in the storage unit 7, the distances of the apparent leading position and the apparent trailing position of the vehicles from the reference point and the number of detected vehicles are stored in the storage section of the storage device 8 corresponding to the vehicle position determining means 1; Return to IL. R
If the signal is manually inputted from the vehicle position determining means 4 in step 4, the distances of the apparent leading position and the apparent trailing position of the vehicle from the reference point are manually calculated from the vehicle position determining means 4 in step 4. The number of vehicles detected by the vehicle position determining means 4 is increased by one. Then R1. In the storage section of the storage device 8 corresponding to the vehicle position determining means 4, the distances of the apparent leading position and the apparent tailing position of the vehicle from the reference point and the number of detected vehicles are stored.
Return to 2.

几，の判定で、１フレーム中の映像信号からすべての車
両のみかけ上の先頭位置とみかけ上の末尾位置の検出が
終了したことを示す信号であれば、几，１においてレジ
スタＭの値から１を減じ、ｉｔ，，，においてその結果
が１であればＲ，にもど９、０であれぱ几，３に進む。If the judgment of 几, is a signal indicating that the detection of the apparent head position and the apparent end position of all vehicles from the video signal in one frame has been completed, then in 几,1, from the value of register M Subtract 1, and if the result is 1 in it, , return to R, 9; if it is 0, proceed to 3.

レジスタＭの値はＩＬ，の時点で２である０つまシレジ
スタＭの値がＯになるときは、車両位置決定手段」と４
の両方において１フレーム中の映像信号からすべての車
両のみかけ上の先頭位置とみかけ上の末尾位置の検出が
終了したときである。The value of the register M is 2 at the time of IL, and when the value of the register M becomes 0, the vehicle position determining means is set to 4.
This is when the apparent head positions and apparent tail positions of all vehicles have been detected from the video signal in one frame in both cases.

几．３では前記車両位置決定手段１と４により検出され
た車両台数がＯ台でちるかどうかを判定し、どちらか１
方でも０台であれば路面上に車両は存在しないと判定し
処理の終了を行なうステップに進み両方とも１台以上で
あればＲ１４へ進む。几. In step 3, it is determined whether the number of vehicles detected by the vehicle position determining means 1 and 4 is O,
If both vehicles are zero, it is determined that there are no vehicles on the road surface, and the process proceeds to a step for terminating the process. If both vehicles are one or more, the process proceeds to R14.

Ｒ，。では前記車両の同定を行なう準備として、車両位
置決定手段１により検出された車両番号に対応する値を
持つレジスタＮ１の値を１にする。R. Now, in preparation for identifying the vehicle, the value of the register N1 having the value corresponding to the vehicle number detected by the vehicle position determining means 1 is set to 1.

Ｒ１，では同様に車両位置決定手段４により検出された
車両番号に対応する値を持つレジスタＮ．の値を１にす
る。Similarly, in R1, a register N.R1 having a value corresponding to the vehicle number detected by the vehicle position determining means 4 is stored. Set the value to 1.

Ｒ，Ｇでは車両の同定を行なっている。Ｎ１の値を’　
＋　Ｎ４の値をｊとして、車両位置決定手段１により検
出されたｉ番目の車両のみかけ上の先頭位置の基準点か
らの距離をｒＩｎみかけ上の末尾位置の基準点からの距
離をＳＩ，車両位置決定器４により検出されたｊ番目の
車両のみかけ上の先頭位置の基準点からの距離をｐＪ，
みかけ上の末尾位置の基準点からの距離をｑ，とする。In R and G, vehicle identification is performed. The value of N1'
+ Let the value of N4 be j, the distance from the reference point of the apparent leading position of the i-th vehicle detected by the vehicle position determining means 1 is rIn, the distance from the apparent tail position from the reference point is SI, vehicle The distance from the reference point of the apparent leading position of the j-th vehicle detected by the position determiner 4 is pJ,
Let the distance of the apparent tail position from the reference point be q.

このときＲ，１，では『１≧ｌ’ｊ≧５１≧ｑ３　であ
るか否かを判定し、ｒｉ≧ｐｊ≧Ｓｉ≧ｑｊでなければ
ａｔｅ　，　ｒ１≧ｐ３≧Ｓｉ≧ｑｊであれば几，，に
進む。つまり几，６でｒｌ≧ｐｔ≧Ｓ１≧ｑ３であると
きは、車両位置決定手段１で１番目に検出された車両と
、車両位置決定手段４でｊ番目に検出された車両を同一
車両とみなす。At this time, in R, 1, it is determined whether ``1≧l'j≧51≧q3, and if ri≧pj≧Si≧qj, then ate, and if r1≧p3≧Si≧qj, ⇠, , proceed to . In other words, when rl≧pt≧S1≧q3 in 几, 6, the first vehicle detected by vehicle position determination means 1 and the jth vehicle detected by vehicle position determination means 4 are considered to be the same vehicle. .

几．．では更に車両の同定を行なうため、Ｎ４の値を１
増加させる。Ｒ，。ではＮ４の値が車両位置決定手段４
で検出された車両台数を越えていないかを判定し、越え
ていればＲ？に進み、越えていなければＲ１，にもどシ
再び車両の同定を行なう。几. ．． Now, in order to further identify the vehicle, the value of N4 is set to 1.
increase. R. Then, the value of N4 is the vehicle position determining means 4.
It is determined whether the number of vehicles detected is exceeded, and if it is, R? If it has not been exceeded, it returns to R1 and identifies the vehicle again.

几，，では、Ｒｔ６によｐ得られ７’Ｃ　ｒｔ，　ｓｌ
，　ｌ’３＋　ｑＪと、前記撮影装置２の設置高さｈ，
と前記撮影装置５の設置高さｈ，によ９、車両先頭位置
の基準点からの距離を（ｈｘｉ）ｌ（ｒ＋−Δｘ）　ｈ
１ｒｌ（ｐｉ一Δｙ））／（ｈｔ（ローΔＸ　）　ｈｓ
　（　ｐ１−Δｙ）によシ、また車両末尾位置の基準点
からの距離を（ｈｚｑｊ（ｓｔ−Δｘ　）−ｈ１ｓｔ　
（　ｑｊ一Δｙ　）　）／｛ｈ，（ｓｉ一Δｘ）　一ｈ
１　（　ｑｊ−Δｙ））により演算することによりめて
いる。In 几,, p is obtained by Rt6 and 7'C rt, sl
, l'3+ qJ and the installation height h of the photographing device 2,
and the installation height h of the photographing device 59, the distance from the reference point to the vehicle front position is (hxi)l(r+-Δx)h
1rl (pi - Δy)) / (ht (low ΔX) hs
(p1-Δy), and the distance of the vehicle tail position from the reference point as (hzqj(st-Δx)-h1st
(qj - Δy) ) / {h, (si - Δx) - h
1 (qj-Δy)).

Ｒ１，では几，７によりめられた車両先頭位置の基準点
からの距離と車両末尾位置の基準点からの距離の出力を
行なう。At R1, the distance from the reference point to the vehicle leading position and the distance from the reference point to the vehicle tail position determined by the method 7 are output.

Claims (5)

【特許請求の範囲】[Claims] （１）路面上方より撮影装置により俯瞰撮影して得られ
た映像信号を用いて道路上の車両等の交通流を計測する
装置において、道路面上の一点を基準点として基準点か
らΔＸ前方の路面上方の高さｈ１　に設置した第１の撮
影装置により道路を俯瞰撮影し、基準点からΔｙ前方の
路面上方の高さｈ２にｈ２）ｂ？なる関係をもって設置
された第２の撮影装置により道路を俯敵撮影し第１の撮
影装置により撮影して得られた映像信号から道路面上に
存在する車両のみかけ上の先頭位置ｒとみかけ上の末尾
位置Ｓを基準点からの距離で決定し前記車両を第２の撮
影装置により撮影して得られた映像信号から道路面上に
存在する車両のみかけ上の先頭位置ｐとみかけ上の末尾
位置ｑを基準点からの距離で決定するための車両位置決
定手段と、前記２台の撮影装置が車両が遠ざかる方向か
ら道路を俯瞰撮影する場合車両末尾位置の基準点からの
距離を（ｈｘｑ（ｓ−Δｘ）　ｂ１ｓ（ｑ−Δｙ））／
（ｈｔ（ｓ−Δｘ）−ｈ，（ｑ一Δｙ月によシ演算し、
車両先頭位置の基ｌｐ点からの距離を｛ｈｔｐ（ｒ−Δ
ｘ）　”＋’（ｐ一Δｙ））／（ｈｚ（ｒ−ΔＸ）ｈｔ
（ｐ一Δｙ月により演算して得るための車両存在位置検
出手段とを含むことを特徴とする交通流計測装置。(1) In a device that measures the traffic flow of vehicles, etc. on a road using video signals obtained by bird's-eye photography from above the road surface, a point on the road surface is used as a reference point, and ΔX forward from the reference point is used. The first photographing device installed at a height h1 above the road surface takes a bird's-eye view of the road, and the distance h2) b? The road is photographed from above by a second photographing device installed in a relationship such that The apparent leading position p and the apparent tail of the vehicle on the road surface are determined from the video signal obtained by photographing the vehicle using a second photographing device. A vehicle position determination means for determining the position q by the distance from the reference point, and when the two photographing devices take a bird's-eye view of the road from the direction in which the vehicle is moving away, the distance from the reference point to the rear position of the vehicle is calculated as (hxq( s-Δx) b1s(q-Δy))/
(ht(s-Δx)-h, (q - Δy months)
The distance from the base lp point to the vehicle head position is {htp(r-Δ
x) ”+'(p-Δy))/(hz(r-ΔX)ht
(A traffic flow measuring device characterized in that it includes a vehicle existing position detecting means for calculating and obtaining by p - Δy month. （２）路面上方より撮影装置により俯瞰撮影して得られ
た映像信号を用いて道路上の車両等の交通流を計測する
装置において、道路面上の一点を基準点として基準点か
らΔＸ前方の路面上方の高さｈ１に設置した第１の撮影
装置によシ道路を俯敵撮影し基準点からΔｙ前方の路面
上方の高さｈ，にｈ，）ｈ１なる関係をもって設置され
た第２の撮影装置により道路を俯轍撮影し第１の撮影装
置により撮影して得られた映像信号から道路面上に存在
する車両のみかけ上の先頭位置ｒとみかけ上の末尾位置
Ｓを基準点からの距離で決定し前記車両を第２の撮影装
置によク撮影して得られた映像信号から道路面上に存在
する車両のみかけ上の先頭位置ｐとみかけ上の末尾位置
ｑを基準点からの距離で決定するための車両位置決定手
段と，前記２台の撮影装置が車両が遠ざかる方向から道
路を俯諏撮影する場合車両の前部の高さをｈ，　ｈ２（
ｒ　Ｐ）／｛ｈｌ　（ｒ一ΔＸ）１１＋　（ｐ一ΔＹ）
）　により演算し、車両の後部車底の高さをｈ，　ｈ，
　（８−ｑ）／｛ｈ２　（ｓ一Δｘ）−ｈ１（ｑ−Δｙ
月により演算して得るための車高検出手段とを含むこと
を特徴とする交通流計測装置。(2) In a device that measures the traffic flow of vehicles, etc. on a road using video signals obtained by bird's-eye photography from above the road surface, a point on the road surface is used as a reference point, and ΔX forward from the reference point is used. A first photographing device installed at a height h1 above the road surface photographs the road from above, and a second photographing device installed at a height h above the road surface in front of the reference point Δy with a relationship of h, )h1 is used. The apparent leading position r and the apparent trailing position S of the vehicle on the road surface are calculated from the reference point from the video signal obtained by photographing the road with the photographing device and by photographing with the first photographing device. The apparent leading position p and the apparent trailing position q of the vehicle on the road surface are determined based on the distance, and the apparent leading position p and the apparent trailing position q of the vehicle on the road surface are determined from the video signal obtained by photographing the vehicle using a second photographing device. When the vehicle position determining means is used to determine the vehicle position based on distance, and the two photographing devices take a bird's-eye view of the road from the direction in which the vehicle is moving away, the height of the front part of the vehicle is h, h2 (
r P)/{hl (r-ΔX)11+ (p-ΔY)
), and the height of the rear bottom of the vehicle is h, h,
(8-q)/{h2 (s-Δx)-h1(q-Δy
A traffic flow measuring device comprising: a vehicle height detecting means for calculating and obtaining a height according to the month. （３）路面上方より撮影装置により俯敵撮影して得られ
た映像信号を用いて道路上の車両等の交通流を計測する
装置において、道路面上の一点を基準点として基準点か
らΔＸ前方の路面上方の高さｈ１に設置した第１の撮影
装置により道路を俯敵撮影し基準点からΔｙ前方の路面
上方の高さｈ，にｈ，）ｈ，　なる関係をもって設置さ
れた第２の撮影装置により道路を俯諏撮影し第」の撮影
装置によク撮影して得られた映像信号から道路面上に存
在する車両のみかけ上の先頭位置ｒとみかけ上の末尾位
置Ｓを基準点からの距離で決定し前記車両を第２の撮影
装置により撮影して得られた映像信号から道路面上に存
在する車両のみかけ上の先頭位＃ｐとみかけ上の末尾位
置ｑを基準点からの距離で決定するための車両位置決定
手段と、前記２台の撮影装置が車両が遠ざかる方向から
道路を俯瞳撮影する場合車両末尾位置の基準点からの距
離を（ｈ２Ｑ（８一Δｘ）　”＋Ｓ（ｑ−Δｙ））／（
ｂ２（ｓ一Δｘ）−ｈ，（ｑ一Δｙ月により演算し、車
両先頭位置の基準点からの距離を（ｂｔｐ（ｒ−Δｘ）
　ｂ＋ｒ（ｐ−Δｙ））／（ｈ２（ｒ−Δｘ）ｂ＋（ｐ
−Δｙ月により演算して得るための車両存在位置検出手
段と、同一車線上に車両が複数台存在する場合は基準点
から遠方に存在する車両から順に番号を付けｉ番目の車
両の先頭位置の基準点からの距離をａｌ，末尾位置の基
準点からの距離をｂ．とじｉ番目の車両とｉ千１番目の
車両の間隔をｂｉ　”ｉ＋１により演算し、ｉ番目の車
両の車長をａｌ　ｂＩ　により演算して得るための車両
間隔・車長検出手段とを含むことを特徴とする交通流計
測装置。(3) In a device that measures the traffic flow of vehicles, etc. on a road using video signals obtained by overhead shooting with a camera from above the road surface, a point on the road surface is used as a reference point, and ΔX forward from the reference point. A first photographing device installed at a height h1 above the road surface takes an overhead photograph of the road, and a second photographing device installed at a height h above the road surface Δy ahead of the reference point with a relationship such that h, )h, The apparent leading position r and the apparent trailing position S of the vehicle on the road surface are determined as reference points from the video signals obtained by taking an overhead photograph of the road with a photographing device and then photographing with a second photographing device. The apparent leading position #p and the apparent trailing position q of the vehicle on the road surface are determined from the reference point from the video signal obtained by photographing the vehicle with a second photographing device. and a vehicle position determining means for determining the distance from the reference point of the vehicle tail position when the two photographing devices take an overhead view of the road from the direction in which the vehicle is moving away. +S(q-Δy))/(
b2 (s - Δx) - h, (q - Δy month), and the distance from the reference point of the vehicle leading position is (btp (r - Δx)
b+r(p-Δy))/(h2(r-Δx)b+(p
- Δy month, and when there are multiple vehicles on the same lane, the vehicle is numbered in order from the vehicle located farthest from the reference point, and the leading position of the i-th vehicle is detected. The distance from the reference point is al, and the distance from the reference point to the end position is b. A vehicle distance/vehicle length detection means is included for calculating the distance between the i-th vehicle and the i-1,001-th vehicle by bi''i+1, and calculating and obtaining the vehicle length of the i-th vehicle by al bI. A traffic flow measurement device featuring: （４）　路面上方より撮影装置により俯敞撮影して得ら
れた映像信号を用いて道路上の車両等の交通流を計測す
る装置において、道路面上の一点を基準点として基準点
からΔＸ前方の路面上方の高さ・ｈ，に設置した第１の
撮杉装置により道路を俯ｆｆ＆撮影し基準点からΔｙ前
方の路面上方の高さｈ２にｈ，＞ｈ，なる関係をもって
設置された第２の撮影装置により道路を俯諏撮影し第１
の撮影装置により撮影して得られた映像信号から道路面
上に存在する車両のみがけ上の先頭位置ｒとみかけ上の
末尾位置Ｓを基準点からの距離で決定し前記車両を第２
の撮影装置により撮影して得られた映像信号から道路面
上に存在する車両のみかけ上の先頭位置ｐとみがけ上の
末尾位置ｑを基準点からの距離で決定するための車両位
置決定手段と、前記２台の撮影装置が車両が遠ざかる方
向から道路を俯訛撮影する場合車両末尾位置の基準点か
らの距離を｛ｈｚｑ（ｓ−ΔＸ）　ｈ＋　ｓ（ｑ−Δｙ
））／（ｈ２（ｓ−ΔＸ）ｈ＋（ｑ一Δｙ月により演算
し、車両先頭位置の基準点からの距離を（ｈｔｐ（ｒ−
ΔＸ）ｈｔｒ（ｐ−Δｙ））／｛ｂｔ（ｒ−Δｘ）　ｈ
ｔ（ｐ−Δｙ））にょ夛演算して得るための車両存在位
置検出手段と、前記車両位置決定手段と車両存在位置決
定手段により予め指定された時間間隔ｔをおいて得られ
る同一車両の第１の代表位置の基準点からの距離ｃ１と
第２の代表位置の基準点からの距離Ｃ，がら（　ｅｔ　
Ｃｔ　）／”を演算して車両速度を得るための車両速度
検出手段を含むことを特徴とする交通流計測装置。(4) In a device that measures the traffic flow of vehicles, etc. on a road using video signals obtained by overhead photography using a photographing device from above the road surface, a point on the road surface is used as a reference point, and ΔX forward from the reference point is used. The first cedar photographing device installed at the height above the road surface, h, overlooks and photographs the road, and the first cedar photographing device installed at the height h2 above the road surface Δy ahead of the reference point with the relationship h,>h. The road was photographed from above using the second photographic device.
The apparent leading position r and the apparent trailing position S of the vehicle on the road surface are determined from the video signal obtained by photographing with the photographing device, and the vehicle is moved to the second
vehicle position determining means for determining an apparent leading position p and an apparent trailing position q of a vehicle on a road surface based on a distance from a reference point from a video signal obtained by photographing with a photographing device; , when the above-mentioned two photographing devices take an overhead photograph of the road from the direction in which the vehicle is moving away, the distance from the reference point to the rear position of the vehicle is {hzzq(s-ΔX) h+s(q-Δy
))/(h2(s-ΔX)h+(q-Δy), and calculate the distance from the reference point of the vehicle leading position to (htp(r-
ΔX) htr(p-Δy))/{bt(r-Δx) h
t(p-Δy)), and the vehicle position determining means and the vehicle position determining means to obtain the position of the same vehicle at a predetermined time interval t. The distance c1 from the reference point of the first representative position and the distance C from the reference point of the second representative position, ( et
1. A traffic flow measurement device comprising vehicle speed detection means for calculating vehicle speed by calculating Ct )/''. （５）　路面上方よシ撮影装置によシ俯撤撮影して得ら
−れた映像信号を用いて道路上の車両等の交通流を計測
する装置において、道路面上の一点を基準点として基準
点からΔＸ前方の路面上方の高さｈ１に設置した第１の
撮影装置により道路を俯瞼撮影し基準点からΔｙ前方の
路面上方の高さｈ，にｈ，）ｈ，なる関係をもって設置
された第２の撮影装置により道路を俯敞撮影し第１の撮
影装置により撮影して得られた映像信号から道路面上に
存在する車両のみかけ上の先頭位置ｒとみかけ上の末尾
位置Ｓを基準点からの距離で決定し前記車両を第２の撮
影装置により撮影して得られた映像信号から道路面上に
存在する車両のみかけ上の先頭位置ｐとみかけ上の末尾
位置ｑを基準点からの距離で決定するための車両位置決
定手段と、前記２台の撮影装置が車両が遠ざかる方向か
ら道路を俯諏撮影する場合前記２台の撮影装置による映
像信号から得られた車両のみかけ上の先頭位置と末尾位
置の基準点からの距離が［＝＝ｐ，９＝ｑなる２つの条
件を同時に満足する場合に路上文字やよごれによる雑音
とみなして車両と区別して検出する手段を含むことを特
徴とする交通流計測装置。(5) In a device that measures the flow of traffic such as vehicles on a road using video signals obtained by photographing from above the road surface and from below, a point on the road surface is used as a reference point. The first photographing device installed at a height h1 above the road surface in front of ΔX from the reference point takes an overhead view of the road, and is installed with the following relationship: h, h, h, )h above the road surface in front of Δy from the reference point. The apparent leading position r and the apparent trailing position S of the vehicle on the road surface are determined from the video signals obtained by taking an overhead photograph of the road with the second photographing device and photographing with the first photographing device. is determined by the distance from the reference point, and the apparent leading position p and apparent trailing position q of the vehicle on the road surface are determined from the video signal obtained by photographing the vehicle with a second photographing device. vehicle position determining means for determining the position based on the distance from a point; and when the two photographing devices take an overhead view of the road from the direction in which the vehicle is moving away, the appearance of the vehicle obtained from the video signals from the two photographing devices; It includes a means for detecting the noise as noise due to road letters or dirt and distinguishing it from a vehicle when the distances from the reference point of the top position and the last position above simultaneously satisfy two conditions: [==p, 9=q] A traffic flow measurement device characterized by:
JP58119217A 1983-06-29 1983-06-29 Measurement of traffic flow Pending JPS6010112A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP58119217A JPS6010112A (en) 1983-06-29 1983-06-29 Measurement of traffic flow

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58119217A JPS6010112A (en) 1983-06-29 1983-06-29 Measurement of traffic flow

Publications (1)

Publication Number Publication Date
JPS6010112A true JPS6010112A (en) 1985-01-19

Family

ID=14755848

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58119217A Pending JPS6010112A (en) 1983-06-29 1983-06-29 Measurement of traffic flow

Country Status (1)

Country Link
JP (1) JPS6010112A (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4839648A (en) * 1987-01-14 1989-06-13 Association Pour La Recherche Et Le Developpement Des Methodes Et Processus Industriels (Armines) Method of determining the trajectory of a body suitable for moving along a portion of a path, and apparatus for implementing the method
US5467634A (en) * 1993-07-22 1995-11-21 Minnesota Mining And Manufacturing Company Method and apparatus for calibrating three-dimensional space for machine vision applications
US5473931A (en) * 1993-07-22 1995-12-12 Minnesota Mining And Manufacturing Company Method and apparatus for calibrating three-dimensional space for machine vision applications
WO1996007937A1 (en) * 1994-09-03 1996-03-14 Robert Bosch Gmbh Device and process for recognising objects
EP0708426A3 (en) * 1994-10-21 1996-07-24 Toyota Motor Co Ltd Apparatus for photographing moving body
US5757286A (en) * 1993-05-28 1998-05-26 Saab-Scania Combitech Aktiebolag Method and a device for the registration of the movement of a vehicle
US5859415A (en) * 1993-05-28 1999-01-12 Saab-Scania Combitech Aktiebolag Method and apparatus for the registration of a vehicle(s) in a free flow toll facility by tracking the vehicle along a path in the toll facility area
US6109525A (en) * 1993-05-28 2000-08-29 Saab-Scania Combitech Akitiebolag Method and device for registering vehicles in a road toll facility
WO2006101442A1 (en) 2005-03-22 2006-09-28 Kapsch Trafficom Ab A system for use in stations for road tolls

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4839648A (en) * 1987-01-14 1989-06-13 Association Pour La Recherche Et Le Developpement Des Methodes Et Processus Industriels (Armines) Method of determining the trajectory of a body suitable for moving along a portion of a path, and apparatus for implementing the method
US5859415A (en) * 1993-05-28 1999-01-12 Saab-Scania Combitech Aktiebolag Method and apparatus for the registration of a vehicle(s) in a free flow toll facility by tracking the vehicle along a path in the toll facility area
US6109525A (en) * 1993-05-28 2000-08-29 Saab-Scania Combitech Akitiebolag Method and device for registering vehicles in a road toll facility
US5757286A (en) * 1993-05-28 1998-05-26 Saab-Scania Combitech Aktiebolag Method and a device for the registration of the movement of a vehicle
US5467634A (en) * 1993-07-22 1995-11-21 Minnesota Mining And Manufacturing Company Method and apparatus for calibrating three-dimensional space for machine vision applications
US5473931A (en) * 1993-07-22 1995-12-12 Minnesota Mining And Manufacturing Company Method and apparatus for calibrating three-dimensional space for machine vision applications
WO1996007937A1 (en) * 1994-09-03 1996-03-14 Robert Bosch Gmbh Device and process for recognising objects
US5896167A (en) * 1994-10-21 1999-04-20 Toyota Jidosha Kabushiki Kaisha Apparatus for photographing moving body
EP0708426A3 (en) * 1994-10-21 1996-07-24 Toyota Motor Co Ltd Apparatus for photographing moving body
WO2006101442A1 (en) 2005-03-22 2006-09-28 Kapsch Trafficom Ab A system for use in stations for road tolls
EP1861829A1 (en) * 2005-03-22 2007-12-05 Kapsch Trafficcom AB A system for use in stations for road tolls
EP1861829A4 (en) * 2005-03-22 2009-11-11 Kapsch Trafficcom Ab A system for use in stations for road tolls
US7705750B2 (en) 2005-03-22 2010-04-27 Kapsch Trafficcom Ab System for use in stations for road tolls
EP2426647A3 (en) * 2005-03-22 2012-06-27 Kapsch TrafficCom AB A system and a method for a road toll system

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