US 12,146,961 B2
Vehicle behavior detection device and detection system
Kenichi Hamaguchi, Tokyo (JP); Yosuke Seto, Tokyo (JP); and Yoshihisa Yamanouchi, Tokyo (JP)
Assigned to IHI Corporation, Tokyo (JP)
Appl. No. 17/056,448
Filed by IHI Corporation, Tokyo (JP)
PCT Filed Mar. 13, 2019, PCT No. PCT/JP2019/010325
§ 371(c)(1), (2) Date Nov. 18, 2020,
PCT Pub. No. WO2019/230123, PCT Pub. Date Dec. 5, 2019.
Claims priority of application No. 2018-103930 (JP), filed on May 30, 2018.
Prior Publication US 2021/0208282 A1, Jul. 8, 2021
Int. Cl. G01S 17/89 (2020.01); G01S 17/42 (2006.01); G08G 1/01 (2006.01); G08G 1/017 (2006.01); G08G 1/04 (2006.01); G08G 1/056 (2006.01)
CPC G01S 17/89 (2013.01) [G01S 17/42 (2013.01); G08G 1/0116 (2013.01); G08G 1/017 (2013.01); G08G 1/04 (2013.01); G08G 1/056 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A detection device for detecting a target behavior that is a vehicle behavior subjected to detection in a preset detection area using a laser radar that generates point cloud information by irradiating the detection area with laser light and receiving reflected light resulting from the irradiation with the laser light, the detection device comprising:
an acquisition unit configured to acquire the point cloud information;
a vehicle detection unit configured to detect a vehicle based on the point cloud information; and
a behavior detection unit configured to detect the target behavior based on a direction of movement and an amount of movement per unit time of the vehicle detected by the vehicle detection unit, wherein
the vehicle detection unit calculates position information indicating a position of the vehicle based on the point cloud information,
the behavior detection unit calculates a position vector indicating a distance and a direction from a second position indicated by second position information which is the position information at a time 2 before a time 1 to a first position indicated by first position information which is the position information at the time 1, and divides the position vector by a time difference between the time 1 and the time 2 to calculate a velocity vector, and
the behavior detection unit calculates an inner product of the velocity vector and a reference vector having an orientation along a direction of traffic of the vehicle permitted in the detection area, and compares the inner product with a predetermined threshold value to determine whether the vehicle has performed the target behavior.