JPH10104346A - Vehicle position detecting device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve receiving sensitivity, detect a vehicle position based on reflection intensity from a reflector even if a distance is separated to some degree, and make it difficult to receive influence of change of a road surface condition and the like. SOLUTION: A marker 4 is set on a road surface 5 on which a vehicle 3 travels as shown in (a), and a travelling route is guided. The markers 4 are arrayed at regular intervals of x m. A detection wave 7t is emitted from an antenna 2, and a sensor 1 receives a reflection wave 7r. If travelling speed V (km/h) is constant, a receiving level is regularly changed as shown in (b). A selection means 8 selects a signal on the base of regularity, and a position detection means 9 detects the position of the vehicle 3 for the marker 4 in a state where an S/N ratio is good.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle position detecting device and a vehicle position detecting method for detecting the position of a vehicle on the basis of a reflector previously set on a running road surface.

[0002]

2. Description of the Related Art Conventionally, there has been known a technique for detecting a relative position of a vehicle with respect to a runway in order to provide guidance on a travel route of the vehicle. In such a case, a method of detecting the position of the vehicle using a magnetic sensor based on a position marker installed along the track is common.

As another method, for example, Japanese Patent Laid-Open No. 1-10
Japanese Patent No. 6910 discloses a technique of laying a light reflecting tape on a runway and providing a pair of two light sensors below the width of the reflecting tape on a vehicle to detect a vehicle attitude. In addition, there is also known a technique of detecting a relative position of a vehicle with respect to a white line by photographing a road surface with an in-vehicle camera and extracting a white line in a screen.

[0004]

However, when a magnetic sensor is used, the detectable distance is relatively short, and it is difficult to keep the distance between the magnetic sensor and the position marker far.

When a light reflecting tape is used, sufficient light reflection may not be obtained due to contamination of the tape. Also, aside from indoors, actual roads are affected by rain, snow, etc. In the case of rainy weather, light is well reflected not only by light reflecting tapes but also by puddles, so the vehicle position cannot be detected with high accuracy. There was a problem. Similarly, when an in-vehicle camera is used, the vehicle is easily affected by the weather, and there is a problem that the contrast between the white line and other portions of the road surface is not sufficient in rainy weather or the like, and the white line cannot be accurately extracted.

Therefore, there is a concept of detecting the position of a vehicle using radio waves having a wavelength equal to or longer than a millimeter wave. That is, a radio wave reflector is provided at a predetermined position on the road surface, for example, at the center of the road surface, a radio wave transmitter / receiver is provided on the vehicle, and the vehicle position is detected by detecting the presence or absence of the radio wave reflector from the reflection intensity of the transmitted radio wave. . However, since the reflection intensity may change due to a change in the road surface condition, a change in the vehicle height, or the like, some measures are required to accurately detect the vehicle position.

SUMMARY OF THE INVENTION It is an object of the present invention to improve the receiving sensitivity, detect the vehicle position based on the reflection intensity from a reflector even at a certain distance, and reduce the influence of a change in road surface conditions on the vehicle position. It is to provide a detection device and method.

[0008]

According to the present invention, a search wave is emitted from a vehicle to a reflector arranged along a traveling route of the vehicle with a predetermined regularity, and the reflected wave from the reflector is reflected by the vehicle. For detecting the vehicle position by receiving the
A reflector sensor for receiving an incident wave from the search wave irradiation direction and detecting a signal corresponding to the incident wave, and a signal corresponding to the reflected wave from the reflector, based on the signal detected from the reflector sensor. A vehicle position detection device comprising: a selection unit that selects according to the gender; and a position detection unit that detects a position of the vehicle relative to the reflector based on a signal selected by the selection unit. According to the present invention, the reflectors arranged along the traveling route of the vehicle have a predetermined regularity in the arrangement state. When the vehicle irradiates the reflector with the search wave, a reflected wave is generated from the reflector according to the regularity, travels in the opposite direction of the search wave, and is received by the reflector sensor. If radio waves or ultrasonic waves are used as the search wave, the distance between the reflector and the vehicle can be made as far as applicable to the actual vehicle. The selecting means selects the signal corresponding to the reflected wave according to the regularity of the arrangement of the reflectors, so that the receiving sensitivity of the reflected wave can be improved. Since the position detecting means detects the relative position of the vehicle with respect to the reflector based on the signal selected according to the regularity, the position detecting means is hardly affected by a road surface condition or the like, and is not affected by the fluctuation of the reception level due to the fluctuation. Then, the vehicle position can be detected.

Further, the present invention includes a vehicle speed measuring means for measuring a running speed of the vehicle, and the selecting means includes a signal frequency band determined based on the running speed measured by the vehicle speed measuring means and the regularity. And a variable filter for selecting a signal corresponding to a reflected wave from the reflector. According to the present invention, the variable filter included in the selecting means corresponds to the reflected wave from the reflector in a signal frequency band determined based on the regularity in which the reflectors are arranged and the traveling speed of the vehicle. Select the signal to be used. By changing the center frequency or the like of the signal frequency band of the variable filter according to the running speed of the vehicle, it is possible to improve the reception sensitivity to the reflected wave.

The present invention also provides the variable filter,
It is characterized in that a switched capacitor filter is used. According to the present invention, since the switched capacitor filter is used for the variable filter, the center frequency of the frequency band can be easily changed by changing the frequency of the clock signal that is a reference for the switching operation. Further, the variable filter can be configured simply and compactly, and space can be saved.

The present invention also provides the variable filter,
It is characterized by using a digital filter by digital arithmetic processing. According to the present invention, since a variable filter is configured using a digital filter formed by digital arithmetic processing, it is possible to flexibly respond to various requests by software.

Further, in the present invention, a plurality of the reflector sensors are provided, and the position detecting means detects a vehicle position based on a comparison between signal levels from the respective reflector sensors. According to the present invention, since the detection of the vehicle position is performed based on the comparison between the signal levels from the plurality of reflector sensors, the position of the reflector with respect to the vehicle can be accurately detected.

Further, the present invention is characterized in that there is provided switching means for selectively operating the plurality of reflector sensors one by one. According to the present invention, it is possible to prevent the reflector sensors from operating at the same time and interfering between the search waves.

Further, according to the present invention, the plurality of reflector sensors include a plurality of reflected wave receiving means for receiving an incident wave from a search wave irradiation direction, and the switching means switches the reflected wave receiving means. Is used to select a plurality of reflector sensors. According to the present invention,
The plurality of reflected wave receiving means can be switched by the switching means, and the same operation as the plurality of reflector sensors can be performed. The structure after the switching means can be shared, and downsizing and cost reduction can be achieved. For example, if multiple antennas for transmitting and receiving radio waves are prepared and high-frequency processing and below are shared, incident waves received by each antenna can be processed under the same conditions, and vehicle position detection accuracy can be improved. Can also.

In the present invention, the plurality of reflector sensors are capable of correcting an incident wave detection function. According to the present invention, it is possible to correct the incident wave detection functions of the plurality of reflector sensors, operate the plurality of reflector sensors under the same conditions, and improve the accuracy of vehicle position detection.

Further, in the present invention, the plurality of reflector sensors are arranged symmetrically with respect to a center line of the vehicle. According to the present invention, if the reception levels of the reflected waves received by the plurality of reflector sensors symmetrically arranged with respect to the center line of the vehicle are equal, the vehicle position is located at the center of the reflector row. Can be easily detected.

In the present invention, the position detecting means performs an FFT operation on the signal selected by the selecting means,
A relative position of the vehicle with respect to the reflector is detected based on a calculation result. According to the present invention, FF
Since the signal processing based on the reception of the reflected wave from the reflector is performed by the T operation processing, information on the reflected wave can be calculated with high accuracy, and the accuracy of position detection can be improved.

Further, in the present invention, the reflector sensor irradiates a search wave perpendicularly to a road surface on which the vehicle travels. According to the present invention, since the search wave is emitted from the vehicle perpendicularly to the road surface, the reflector installed on the road surface can easily reflect the reflected wave in the incident direction and easily improve the detection sensitivity. be able to. Further, since no frequency shift occurs due to the Doppler effect, the frequency bandwidth of the selection means can be narrowed and the S / N ratio can be improved.

Further, according to the present invention, a vehicle position detecting device is mounted on a vehicle, a search wave is radiated to a reflector installed in advance along a traveling route of the vehicle, and a reflected wave from the reflector is received to determine a vehicle position. This is a method for detecting, wherein the width of the reflector perpendicular to the direction of the traveling path is made larger than the spread of the search wave to be irradiated. According to the present invention, by making the width of the reflector perpendicular to the traveling route direction larger than the spread of the search wave to be irradiated, the irradiation range of the search wave becomes relatively narrow, and the selection accuracy is improved. Can be achieved. In order to narrow the irradiation range of the search wave, it is necessary to narrow the directivity of the radio wave receiving antenna, and the antenna or the like becomes large. By taking measures on the reflector side, it is possible to reliably improve the sensitivity at low cost.

[0020]

FIG. 1 shows the basic concept of the present invention as a first embodiment of the present invention. FIG. 1A shows a schematic system configuration. The sensor 1 includes an antenna 2 and is mounted on a vehicle 3. The sensor 1 transmits a radio wave for radar sensing from the antenna 2, detects the marker 4 based on a reception level when the reflected wave from the marker 4 as a reflector is received by the antenna 2, and detects a vehicle based on the marker 4. 3 is performed. The reception level changes according to the distance between the antenna 2 and the marker 4, and increases as the distance decreases. Therefore, when mounted on the vehicle 3, the reception level becomes maximum when the antenna 2 is located immediately above the marker 4.

The marker 4 moves along the traveling route of the vehicle 3
It is installed on the road surface 5 in advance. The intervals between the markers 4 are regular, and are arranged, for example, one by one at x [m]. The sensor 1 and the antenna 2 can be moved by the moving mechanism 6 in a direction perpendicular to the traveling direction of the vehicle 3. When a search wave 7t is transmitted from the antenna 2 to the marker 4,
The reflected wave 7r from the marker 4 is received by the antenna 2.
Considering the distance between the antenna 2 and the marker 4, the wavelength of the radio wave is preferably equal to or longer than a millimeter wave. Ultrasound can also be used.

FIG. 1B shows that the vehicle has a constant speed V [km / km].
h] shows a temporal change in the reception level of the reflected wave 7r obtained when the vehicle travels along the array of the markers 4. The reception level of the reflected wave 7r from the portion where the marker 4 exists is higher than the reception level of the reflected wave 7r from the road surface 5 or the like where the marker 4 does not exist. This cycle is 3.6x / V [sec]
And the frequency corresponds to V / (3.6 ×) [Hz].

The selection means 8 shown in FIG.
The received signal corresponding to the reflected wave 7f from is selected according to the regularity of the arrangement. That is, the frequency V / (3.6
x) Selection with a bandpass filter centered on [Hz],
The time is selected by synchronizing with the cycle 3.6x / V [sec]. The position detecting means detects the position of the vehicle 3 based on the marker 4 while controlling the moving mechanism 6 so that the level of the reception signal selected by the selecting means 7 is maximized. Even if the reception level of the reflected wave 7r fluctuates due to a change in the road surface condition or the like, the position of the marker 4 can be reliably detected according to the regularity.

FIG. 2 shows the operation of the moving mechanism 6 of FIG.
As shown in FIG. 2A, the moving mechanism 6 can reciprocate the sensor 1 and the antenna 2 in width directions 6 a and 6 b perpendicular to the traveling direction of the vehicle 3. The antenna 2 transmits and receives radio waves within a relatively narrow beam-shaped directional characteristic 2s. For this reason, as shown in FIG. 2B, when the antenna 2 is located at the center of the marker 4, the reception level of the reflected wave selected at the frequency corresponding to the vehicle speed becomes maximum, and decreases on the left and right. In the present embodiment, the antenna 2 is connected to the marker 4 within the moving range of the moving mechanism 6.
, The position of the marker 4 can be reliably detected. Without the moving mechanism 6, the antenna 2
Even if the vehicle is fixed to the vehicle body of the vehicle 3, if the vehicle 3 is driven to change the traveling direction to track the marker 4, the vehicle can travel in accordance with the marker 4.

FIG. 3 shows a schematic configuration of a second embodiment of the present invention. As shown in FIG. 3A, in the present embodiment, the variable filter 1 is used as a selection unit and a position detection unit.
0 and the measurement / calculation unit 11 are used. measurement·
The calculation unit 11 controls a center frequency and a bandwidth of a frequency band of the variable filter 10 in response to a vehicle speed signal 12 such as a traveling pulse representing a traveling speed of the vehicle. FIG. 3 (b)
Indicates a selection characteristic of the variable filter 10 with respect to a signal indicated by a solid line by a virtual line. The center frequency of the signal is V / (3.6 ×) [Hz], as shown in FIG. Expected fluctuations in running speed and frequency shift due to Doppler effect,
The range of ± α of the center frequency is set as the pass band of the variable filter 10.

As the variable filter 10, a switched capacitor type band-pass filter can be preferably used. The switched capacitor filter can easily change the center frequency by changing the frequency of the applied clock signal. By using a switched-capacitor filter that has been formed into a semiconductor integrated circuit in advance, the variable filter 10 can be easily configured, and can be reduced in size and space.

FIG. 4 shows a schematic configuration of a third embodiment of the present invention. In the present embodiment, a digital filter 20 is used as a variable filter. Digital filter 20
Is realized by digital arithmetic processing of the measurement / arithmetic unit 21 which is a position detecting means. Such digital signal processing can be suitably performed by using a digital signal processor, abbreviated as DSP, as the measurement / arithmetic unit 21. Sensor 1 for digital signal processing
Is converted into a digital signal by an analog / digital converter 22, which is abbreviated as A / D, and applied to a digital filter 20. The digital filter 20 selects a signal from the output of the sensor 1 based on the own vehicle speed signal 12. In the digital filter 20, the characteristics as a filter can be easily changed by software, and a low-cost variable filter with a simple configuration can be realized.

As digital signal processing using a DSP or the like, a fast Fourier transform method abbreviated as FFT can be used. By using the FFT, a signal input in real time can be converted into a frequency domain, and the frequency, level, and phase of the signal can be separated.

FIG. 5 shows the basic concept of the fourth and fifth embodiments of the present invention. In the present embodiment, a plurality of sensors 1a, 1b, 1c and antennas 2a, 2b,
Since the marker 4 is detected by using the antenna 2c, the antenna 2
Even if a, 2b, and 2c are fixed to the vehicle body, the control of the traveling direction such as tracking the marker 4 can be easily performed. In the fourth embodiment shown in FIG. 5A, two sets of sensors 1a and 1b and antennas 2a and 2b are arranged with a marker 4 spaced apart in the width direction. Since the reception levels of the sensors 1a and 1b correspond to the distance between the antennas 2a and 2b and the marker 4, if the reception levels are the same, the marker 3
Is located at the center between the antennas 2a and 2b.
If the reception levels are different, the position of the marker 4 can be estimated based on the ratio of the reception levels. The fifth embodiment shown in FIG. 5B shows a configuration in which a third antenna 2c is provided at the center of the antennas 2a and 2b. By providing the third antenna 2c, the marker 4 can be reliably detected. The plurality of sensors 1a, 1b, 1c
If there is one that operates at the same time, interference may occur and the detection accuracy may be reduced. For this reason, switching means for selectively switching and operating one by one is also provided.

FIGS. 6A and 6B show an electrical configuration for processing the signals from the sensors 1a and 1b and the sensors 1a, 1b and 1c shown in FIGS. 5A and 5B. Are respectively shown. Outputs of the sensors 1a, 1b and the sensors 1a, 1b, 1c are output to detection means 30a, 30b and detection means 30a, 30b, 30c which are selection means.
, And a signal for performing position detection by a variable filter or FFT is selected. The calculating means 40 and 41, which are position detecting means, include the sensors 1a and 1b;
The position of the vehicle is detected based on the relationship between the detection levels a, 1b, and 1c.

The calculation means 41 shown in FIG. 6B is used to improve the accuracy of position detection by comparing reception levels.
The reception levels of a, 1b, and 1c are corrected. As the correction of the reception level, a method of using an amplifier whose gain can be adjusted in the transmission unit or the reception unit and adjusting the gain by AGC or the like can be used. It is also possible to provide a signal attenuator such as an attenuator on the signal transmission path, and to perform correction by the amount of attenuation. When the measurement of the reception level is performed using the FFT, correction can be performed in recognition of signal processing. Note that two sets of sensors 1 as shown in FIG.
Even when a and 1b are used, if the reception level is similarly corrected, the accuracy and reliability of position detection can be improved.

FIG. 7 shows a schematic configuration of a sixth embodiment of the present invention. In the present embodiment, a computing unit 50 that performs position detection on two antennas 2a and 2b as shown in FIG.
It is switched by a changeover switch 51 controlled by the switch. As a result, the sensor 1 that handles high-frequency electric signals can be shared, and cost reduction and space saving can be achieved. The commonization also eliminates the need to correct the reception level. Also, interference due to simultaneous operation of a plurality of sensors can be prevented.

FIG. 8 shows the basic concept of the seventh embodiment of the present invention. In the present embodiment, as shown in FIG. 8A, a radio wave is emitted from the antenna 2 to the road surface 5 perpendicularly.
As shown in FIG. 8B, the intensity of the reflected wave from the marker 4 is generally greater than when the radio wave is emitted in a direction inclined to the road surface 5. Since the marker 4 usually uses a band-like metal such as aluminum, the surface is smooth and the reflection intensity in random directions is small. Especially,
As shown in (b), in order to increase the reflection intensity in the incident direction for a radio wave incident from a direction inclined with respect to the surface, it is general to take some measures. In addition, since there is no influence of the Doppler effect due to the running of the vehicle and no frequency shift occurs, the range of band limitation when unnecessary signals are removed by a variable filter or the like can be reduced, and the sensitivity and S / N can be further reduced. The ratio can be improved and the cost can be reduced.

FIG. 9 shows the basic concept of the eighth embodiment of the present invention. In the present embodiment, the width Wm of the marker 24
Is set larger than the width Ws of the beam spread of the directivity 2s of the antenna 2, and the detection accuracy can be relatively improved. Generally, the detection accuracy is improved by narrowing the beam width Ws. However, for this purpose, the size of the antenna 2 is increased, the reliability of mounting on the vehicle is reduced, and the cost is increased. . If measures are taken on the marker side, detection accuracy can be easily improved.

[0035]

As described above, according to the present invention, when a search wave is emitted from a vehicle to a reflector regularly arranged along the traveling route of the vehicle, a reflected wave according to the regularity is generated from the reflector. It is generated, travels in the reverse direction of the search wave irradiation direction, and is received by the reflector sensor. If radio waves or ultrasonic waves are used as the search wave, the distance between the reflector and the vehicle can be made as far as applicable to the actual vehicle. The selecting means selects a signal corresponding to the reflected wave according to the regularity of the arrangement of the reflectors, so that the receiving sensitivity is improved. Since the position detecting means detects the relative position of the vehicle with respect to the reflector based on the signal selected according to the regularity, the position detecting means is hardly affected by a road surface condition or the like, and is not affected by the fluctuation of the reception level due to the fluctuation. Then, the vehicle position can be detected. The position detection tells whether the vehicle is near or far from the reflector, so it can be used for guidance on a traveling route based on the reflector, and for detecting sleepiness by detecting a deviation in the position of the vehicle. Can also be applied.

According to the present invention, the variable filter included in the selection means is changed so as to have a signal frequency band determined based on the regularity in which the reflectors are arranged and the traveling speed of the vehicle. , S / N ratio, and reception sensitivity to reflected waves can be improved.

Further, according to the present invention, since the switched capacitor filter is used for the variable filter, the center frequency of the frequency band can be easily changed by changing the frequency of the clock signal serving as the reference for the switching operation. The filter can be made simple and small, and space can be saved.

Further, according to the present invention, since the variable filter is constituted by using a digital filter based on digital arithmetic processing, the characteristics can be easily changed by software.

According to the present invention, the position of the reflector with respect to the vehicle can be accurately determined based on the comparison between the signal levels from the plurality of reflector sensors.

Further, according to the present invention, since the reflector sensors do not operate at the same time, interference can be prevented, and a decrease in the accuracy of position detection can be prevented.

Further, according to the present invention, an operation equivalent to a plurality of reflector sensors can be performed by switching a plurality of reflected wave receiving means. The structure after the switching means can be shared, and downsizing and cost reduction can be achieved. If radio waves are used as search waves, a plurality of antennas for transmission and reception are prepared, and if high-frequency processing and below are shared, incident waves received by each antenna can be processed under the same conditions, and the detection accuracy of vehicle position can be improved. Improvement is also possible.

Further, according to the present invention, the detection functions of the incident waves of the plurality of reflector sensors can be respectively corrected, and the detection accuracy of the vehicle position can be improved.

Further, according to the present invention, since a plurality of reflector sensors are arranged symmetrically with respect to the center line of the vehicle, if the reception levels of the reflected waves to be received are equal, the vehicle can be positioned in a row of reflectors. The central position can be easily detected.

Further, according to the present invention, since the signal processing based on the reception of the reflected wave is performed by using the FFT operation processing, the accuracy of detecting the position of the vehicle can be improved.

According to the present invention, since the search wave is emitted from the vehicle perpendicular to the road surface, the reflected wave from the reflector installed on the road surface can be easily received, and the detection sensitivity can be easily improved. Can be done. Further, since there is no frequency shift due to the Doppler effect, the frequency bandwidth of the selection means can be narrowed, and the S / N ratio can be improved.

Further, according to the present invention, by making the width of the reflector larger than the spread of the search wave to be irradiated, the irradiation range of the search wave is relatively narrowed, and the selection accuracy is improved. be able to. When narrowing the directivity of the radio wave receiving antenna to narrow the search wave irradiation range,
Although the size of the antenna or the like is increased, by taking measures on the reflector side, it is possible to reliably improve the sensitivity at low cost.

[Brief description of the drawings]

FIG. 1 is a block diagram and a time chart showing a basic concept of a first embodiment of the present invention.

FIG. 2 is a simplified sectional view and a graph showing the operation of the moving mechanism 6 of FIG.

FIG. 3 is a block diagram and a graph showing a schematic electrical configuration of a second embodiment of the present invention.

FIG. 4 is a block diagram showing a schematic electrical configuration of a third embodiment of the present invention.

FIG. 5 is a simplified cross-sectional view showing a basic concept of a fourth embodiment and a fifth embodiment of the present invention.

FIG. 6 is a block diagram showing a schematic electrical configuration of a fourth embodiment and a fifth embodiment.

FIG. 7 is a block diagram showing a schematic electrical configuration of a sixth embodiment of the present invention.

FIG. 8 is a simplified sectional view showing a basic concept of a seventh embodiment of the present invention.

FIG. 9 is a simplified sectional view showing a basic concept of an eighth embodiment of the present invention.

[Explanation of symbols]

 1, 1a, 1b, 1c Sensor 2, 2a, 2b, 2c Antenna 3 Vehicle 4, 24 Marker 5 Road surface 6 Moving mechanism 7t Search wave 7r Reflected wave 8 Selection means 9 Position detection means 10 Variable filter 11, 21 Measurement / calculation unit 12 own vehicle speed signal 20 digital filter 30, 30a, 30b, 30c detecting means 40, 41, 50 calculating means

Claims (12)

[Claims] 1. A search wave is emitted from a vehicle to a reflector arrayed with a predetermined regularity along a traveling route of the vehicle, and a reflected wave from the reflector is received to detect a vehicle position. A reflector sensor that receives an incident wave from the search wave irradiation direction and detects a signal corresponding to the incident wave; and a signal detected from the reflector sensor, and a reflection from the reflector. Selecting means for selecting a signal corresponding to a wave in accordance with the regularity; and position detecting means for detecting a relative position of the vehicle with respect to the reflector based on the signal selected by the selecting means. Vehicle position detection device. 2. The vehicle according to claim 1, further comprising: a vehicle speed measuring unit configured to measure a traveling speed of the vehicle, wherein the selecting unit includes a signal frequency band determined based on the traveling speed measured by the vehicle speed measuring unit and the regularity. The vehicle position detecting device according to claim 1, further comprising a variable filter that selects a signal corresponding to a reflected wave from the body. 3. The vehicle position detecting device according to claim 2, wherein a switched capacitor filter is used as the variable filter. 4. The vehicle position detecting device according to claim 2, wherein a digital filter based on digital arithmetic processing is used as the variable filter. 5. The apparatus according to claim 1, wherein a plurality of said reflector sensors are provided, and said position detecting means detects a vehicle position based on a comparison between signal levels from said respective reflector sensors. The vehicle position detecting device according to any one of the above. 6. The method according to claim 1, wherein the plurality of reflector sensors are selectively set to one.
6. The vehicle position detecting device according to claim 5, further comprising switching means for operating the vehicle position one by one. 7. The plurality of reflector sensors include a plurality of reflected wave receiving means for receiving an incident wave from a search wave irradiation direction, and the switching means switches the plurality of reflected wave receiving means by switching the reflected wave receiving means. 7. The vehicle position detecting device according to claim 6, wherein said reflector sensor is selected. 8. The plurality of reflector sensors are capable of correcting an incident wave detection function.
The vehicle position detecting device according to any one of the above. 9. The vehicle according to claim 5, wherein the plurality of reflector sensors are arranged symmetrically with respect to a center line of the vehicle.
The vehicle position detecting device according to any one of claims 1 to 8. 10. The apparatus according to claim 1, wherein the position detection means performs an FFT operation on the signal selected by the selection means, and detects a relative position of the vehicle with respect to the reflector based on a result of the operation. The vehicle position detecting device according to any one of claims 1 to 9. 11. The vehicle position detecting device according to claim 1, wherein the reflector sensor irradiates a search wave perpendicular to a road surface on which the vehicle travels. 12. The vehicle position detecting device according to claim 1, which is mounted on a vehicle, irradiates a reflector installed in advance along a traveling route of the vehicle with a search wave, and reflects the reflector by the reflector. A method of detecting a vehicle position by receiving a wave, wherein a width of a reflector perpendicular to a traveling path direction is set to be larger than a spread of a search wave to be irradiated.