Method, processing device and storage medium for adjusting radio wave sensor

Abstract

The method disclosed herein is a method for adjusting an electromagnetic wave sensor that transmits electromagnetic waves to a reference object having a reflector and receives a reflected wave as an electromagnetic wave reflected from the reflector. The method includes at least one of the following processes: moving the reference object in a manner that generates a time-varying change in sensing data obtained from the reflected wave and moving the reflector in a manner that generates a time-varying change in sensing data obtained from the reflected wave; and using the time-varying change in the sensing data to distinguish between the reflected wave and noise.

Description

Technical Field

[0001] The present disclosure relates to a method, a processing device, and a computer program for adjusting a radio wave sensor. This application claims priority based on Japanese application No. 2020-041167 filed on March 10, 2020, and all the contents described in the Japanese application are cited by reference. Background Art

[0002] Patent document 1 discloses a radio wave sensor that radiates radio waves to a target area set to include a crosswalk to sense an object. Patent document 2 discloses detecting a deviation in the orientation of a radio wave sensor by measuring the direction of a reference object placed in a target area set to include a crosswalk.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-90138

[0006] Patent Document 2: Japanese Patent Application Publication No. 2018-162977 Summary of the invention

[0007] One aspect of the present disclosure is a method for adjusting a radio wave sensor. The method of the present disclosure is a method for adjusting a radio wave sensor, the radio wave sensor transmitting radio waves to a reference object having a reflecting portion, and receiving a reflected wave as the radio wave reflected by the reflecting portion, the method comprising: at least one of a process of moving the reference object in a manner that generates a temporal change in sensing data obtained from the reflected wave and a process of moving the reflecting portion in a manner that generates a temporal change in sensing data obtained from the reflected wave; and a process of distinguishing the reflected wave from noise using the temporal change in the sensing data.

[0008] Another aspect of the present disclosure is a processing device. The processing device of the present disclosure is a processing device for an adjustment method of an electric wave sensor, the adjustment method of the electric wave sensor including at least one of a process of moving the reference object in a manner that produces a temporal change in sensing data obtained from a reflected wave of an electric wave that is sent to a reference object having a reflecting portion and reflected by the reflecting portion, and a process of moving the reflecting portion in a manner that produces a temporal change in sensing data obtained from the reflected wave, the processing device including a determination unit configured to distinguish the reflected wave from noise using the temporal change in the sensing data.

[0009] Another aspect of the present disclosure is a computer program. The computer program of the present disclosure is a computer program for causing a computer as a processing device to operate, the processing device being used in a method for adjusting a radio wave sensor, the method for adjusting a radio wave sensor including at least one of a process of causing the reference object to move in a manner that produces a temporal change in sensing data obtained from a reflected wave that is a radio wave sent to a reference object having a reflecting portion and reflected by the reflecting portion, and a process of causing the reflecting portion to move in a manner that produces a temporal change in sensing data obtained from the reflected wave, wherein the computer program is used to cause the computer to perform processing for distinguishing the reflected wave from noise using the temporal change in the sensing data. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a diagram showing a radio wave sensor and a crosswalk near the radio wave sensor.

[0011] Figure 2 This is a diagram showing the configuration of a radio wave sensor, a processing device, and a reference device.

[0012] Figure 3 This is a flowchart of the radio wave sensor installation operation.

[0013] Figure 4 This is a diagram for explaining how to set up the radio wave sensor.

[0014] Figure 5 This is a diagram for explaining how to set up the radio wave sensor.

[0015] Figure 6 This is a diagram for explaining how to set up the radio wave sensor.

[0016] Figure 7 It is a diagram showing a radio wave sensor and a crosswalk near the radio wave sensor.

[0017] Figure 8 This is the screen showing the detection results of the radio wave sensor.

[0018] Fig. 9 This is a flowchart of the first example.

[0019] Fig.10 This is an explanatory diagram of the first example.

[0020] Fig.11 This is a flowchart of the first example.

[0021] Fig.12 This is a flowchart of the second example.

[0022] Fig.13 It is an explanatory diagram of the second example.

[0023] Fig.14It is an explanatory diagram of the second example.

[0024] Fig.15 It is an explanatory diagram of the second example.

[0025] Fig.16 It is a graph showing the periodically changing reflection intensity.

[0026] Fig.17 This is a flowchart of the second example.

[0027] Fig.18 This is a flowchart of the third example. DETAILED DESCRIPTION

[0028] [Problems to be Solved by the Present Disclosure]

[0029] As disclosed in Patent Document 2, when adjusting the orientation of the electric wave sensor, the reference object is set at a predetermined position such as a reference position. In order to adjust the electric wave sensor, the reference object is sensed by the electric wave sensor. However, in the case where there are other objects other than the reference object near the position where the reference object is set, the electric wave sensor receives not only reflected waves from the reference object, but also reflected waves (noise) from other objects. Therefore, it is sometimes difficult to distinguish between the reference object and objects other than the reference object. That is, it is sometimes difficult to distinguish between reflected waves from the reference object and noise.

[0030] For example, when the target area includes a crosswalk and there are many pedestrians on the crosswalk, even if a reference object is set at the reference position where the reference object should be set, there may be many pedestrians at positions other than the reference position. Therefore, it becomes difficult to identify which of the many objects sensed by the radio wave sensor is the reference object. When the reference object cannot be identified in distinction from other objects, for example, it is impossible to grasp the coordinates of the reference position where the reference object is set in the coordinate system of the radio wave sensor.

[0031] Therefore, it is desired to easily distinguish between reflected waves and noise when adjusting a radio wave sensor based on reflected waves of radio waves obtained by a reference object.

[0032] [Effects of the present disclosure]

[0033] According to the present disclosure, when adjusting the radio wave sensor based on the reflected wave of the radio wave obtained by the reference object, it is possible to easily distinguish the reflected wave from the noise.

[0034] [Description of Embodiments of the Present Disclosure]

[0035] (1) The method of the embodiment is a method for adjusting an electric wave sensor, the electric wave sensor transmitting electric waves to a reference object having a reflecting portion and receiving a reflected wave which is an electric wave reflected by the reflecting portion, the method comprising: at least one of a process of moving the reference object in a manner that generates a temporal change in sensing data obtained from the reflected wave and a process of moving the reflecting portion in a manner that generates a temporal change in sensing data obtained from the reflected wave; and a process of distinguishing the reflected wave from noise using the temporal change in the sensing data. In this case, a temporal change corresponding to the movement of the reference object or the reflecting portion is generated in the sensing data obtained from the reflected wave, so that it is easy to distinguish the reflected wave from the noise.

[0036] (2) Alternatively, the process of moving the reference object or the process of moving the reflecting unit includes moving the reference object or the reflecting unit in a manner that causes a temporal change in at least one of the radio wave intensity and the phase of the reflected wave. In this case, the reflected wave and noise can be distinguished by the temporal change in the radio wave intensity or the phase.

[0037] (3) The process of moving the reflecting unit may include moving the reflecting unit periodically. In this case, the temporal change of the sensing data also becomes periodic, and it becomes easy to distinguish between the reflected wave and the noise.

[0038] (4) The process of moving the reflecting unit may include moving the reflecting unit while maintaining the position of the reference object. In this case, the reflected wave and the noise can be distinguished by the movement while maintaining the position.

[0039] (5) The process of moving the reference object may include moving the reference object so that the position of the reference object changes. In this case, the reflected wave and the noise can be distinguished by the change in position.

[0040] (6) Alternatively, the method of the embodiment includes a process of moving the reference object and a process of moving the reflecting unit, wherein the process of moving the reflecting unit includes moving the reflecting unit while maintaining the position of the reference object, and the process of moving the reference object includes moving the reference object in such a way that the position of the reference object changes. In this case, the reflected wave and the noise can be distinguished by both the movement while maintaining the position and the change in the position.

[0041] (7) Alternatively, the method of the embodiment may move the reference object in such a manner that the position of the reference object changes after the reflector is moved while maintaining the position of the reference object. In this case, after the reflected wave and the noise are distinguished by the movement while maintaining the position, the reflected wave and the noise can be reliably distinguished by the change in position.

[0042] (8) The moving of the reflecting unit while maintaining the position of the reference object may include moving the reflecting unit at a reference position where the reference object is set for adjusting the radio wave sensor. In this case, the reference position can be identified by identifying the reference object.

[0043] (9) Alternatively, moving the reference object in such a manner that the position of the reference object changes may include moving the reference object from a position other than a reference position to the reference position, wherein the reference position is a position at which the reference object is set in order to adjust the radio wave sensor. In this case, the reference position can be identified by the movement of the reference object.

[0044] (10) The method of the embodiment may further include a process of outputting the temporal change of the sensing data. The output may be, for example, a display on a display or an output of a voice. By outputting the temporal change of the sensing data, an operator can understand the temporal change of the sensing data.

[0045] (11) The sensing data may include at least one data selected from the group consisting of data indicating the radio wave intensity of the reflected wave, data indicating the phase of the reflected wave, and data indicating the position of the reference object. In this case, the reflected wave and noise are distinguished by using these data.

[0046] (12) The process of distinguishing the reflected wave from the noise may be performed by a processing device that performs a process of distinguishing the reflected wave from the noise. In this case, the distinction can be efficiently performed by the processing device.

[0047] (13) The processing may include determining, by the processing device, whether the temporal change of the sensing data matches a predetermined movement of the reference object or the reflecting portion. In this case, it is easy to distinguish between reflected waves and noise.

[0048] (14) The processing device of the embodiment is a processing device for an adjustment method of an electric wave sensor, the adjustment method of the electric wave sensor including at least one of a process of moving the reference object in a manner that produces a temporal change in sensing data obtained from a reflected wave of an electric wave that is sent to a reference object having a reflecting portion and reflected by the reflecting portion, and a process of moving the reflecting portion in a manner that produces a temporal change in sensing data obtained from the reflected wave, the processing device including a determination unit, the determination unit being configured to distinguish the reflected wave from noise using the temporal change in the sensing data.

[0049] (15) A computer program according to an embodiment is a computer program for causing a computer as a processing device to operate, the processing device being used in a method for adjusting a radio wave sensor, the method for adjusting a radio wave sensor including at least one of a process of causing the reference object to move in a manner that causes a temporal change in sensing data obtained from a reflected wave that is a radio wave transmitted to a reference object having a reflecting portion and reflected by the reflecting portion, and a process of causing the reflecting portion to move in a manner that causes a temporal change in sensing data obtained from the reflected wave, wherein the computer program is used to cause the computer to perform a process of distinguishing the reflected wave from noise using the temporal change in the sensing data. The computer program is stored in a non-transitory storage medium that can be read by a computer.

[0050] [Details of the embodiments of the present disclosure]

[0051] Figure 1 The radio wave sensor 10 adjusted by the adjustment method of the embodiment and the crosswalk 110 included in the target area 100 sensed by the radio wave sensor 10 are shown. It should be noted that the target area 100 is not limited to the area including the crosswalk 110 .

[0052] The electric wave sensor 10 of the embodiment is set to sense objects in the target area 100. The electric wave sensor 10 of the embodiment is an infrastructure (road equipment) installed on or near the road, and senses objects such as pedestrians. The electric wave sensor 10 is supported by an appropriate support member 10A such as a support column for a traffic light and is installed at a high place. The target area 100 is a range set to the electric wave sensor 10 as a range set to sense objects in the range where the electric wave sensor 10 can sense objects.

[0053] The objects sensed by the radio wave sensor 10 are, for example, pedestrians, bicycles, two-wheeled motor vehicles, guardrails, electric poles, and billboards. The target area 100 is set to include a crosswalk 110 and a portion of sidewalks 111 and 112. The crosswalk 110 is set to connect the sidewalks 111 and 112. In addition, the crosswalk 110 is set to cross the road 113 located between the sidewalks 111 and 112. The sidewalks 111 and 112 included in the target area 100 are areas adjacent to the crosswalk 110 and are areas where pedestrians wait in order to cross the crosswalk 110.

[0054] The shape of the object area 100 is, for example, Figure 1 The quadrilateral target area 100 has four area ends 100A, 100B, 100C, and 100D. It should be noted that the shape of the target area 100 is not particularly limited. The shape of the target area 100 is appropriately determined based on the shape of the crosswalk 110, the shapes of the sidewalks 111 and 112, and the shape of the roadway 113.

[0055] The radio wave sensor 10 of the embodiment senses an object by transmitting radio waves and receiving reflected waves from the object. As an example, the radio wave sensor 10 of the embodiment is a millimeter wave radar. Figure 2 As shown, the radio wave sensor 10 includes a transmitter 11 and a receiver 12 .

[0056] The transmitter 11 has a transmitting antenna and a transmitting circuit, and transmits a signal for sensing an object in the form of an electric wave. The transmitted signal is, for example, a frequency modulated continuous wave (Frequency Modulated Continuous Wave: FMCW). The transmitted signal is reflected by an object and becomes a reflected wave.

[0057] The receiver 12 includes a receiving antenna and a receiving circuit, and receives the reflected wave from the object. The receiver 12 outputs the reflected wave signal to the signal processing circuit 13 included in the radio wave sensor 10 .

[0058] The signal processing circuit 13 generates sensing data representing the distance from the electric wave sensor 10 to the object, the direction of the object relative to the electric wave sensor 10, the speed of the object, the intensity of the reflected wave from the object, and the phase of the reflected wave based on the signal of the reflected wave. The electric wave sensor 10 can output the sensing data to the outside of the electric wave sensor 10 via the communication interface 14. The communication interface 14 is used for connection with external devices such as the processing device 30 described later. The communication interface 14 can be either a wireless communication interface or a wired communication interface.

[0059] The processing device 30 is used to adjust the radio wave sensor 10 when the radio wave sensor 10 is installed or maintained. The adjustment of the radio wave sensor 10 is, for example, the adjustment of the orientation of the radio wave sensor 10 or the adjustment of the setting of the radio wave sensor 10. In order to adjust the radio wave sensor 10, the processing device 30 receives the sensing data of the object from the radio wave sensor 10. As an example, the processing device 30 is connected to the radio wave sensor 10 so as to be communicable for use, but the processing device 30 may also be provided in the radio wave sensor 10 itself.

[0060] like Figure 2 As shown, the processing device 30 is composed of a computer including a processor 31 and a storage device 32 connected to the processor 31. The storage device 32 of the embodiment includes a primary storage device and a secondary storage device. The primary storage device is, for example, a RAM (Random Access Memory) composed of a semiconductor memory. The secondary storage device is, for example, a hard disk drive or a solid state drive. In the present disclosure, the storage device 32 may also be referred to as a memory. A computer program 32A is stored in the storage device 32, and the computer program 32A is used to make the processor 31 perform a process for adjusting the electric wave sensor 10. The processor 31 reads the computer program 32A from the storage device 32 and executes it, thereby performing a process for adjusting the electric wave sensor 10. In the embodiment, the process for adjusting the electric wave sensor 10 includes a process based on the sensing data obtained from the electric wave sensor 10 and a control process of the reference device 50. The process based on the sensing data obtained from the electric wave sensor 10 includes a determination process for distinguishing between reflected waves and noise. The processor 31 that performs the determination process works as a determination unit for distinguishing between reflected waves and noise.

[0061] The processing device 30 includes a display 33 for presenting necessary information to an adjuster (operator) who operates the processing device 30 to adjust the electric wave sensor 10. The display 33 displays a screen for adjusting the electric wave sensor 10. In addition, the processing device 30 includes a communication interface 34 for connecting to external devices such as the electric wave sensor 10 and the reference device 50.

[0062] The reference device 50 is used as a reference object for adjusting the radio wave sensor 10. When adjusting the radio wave sensor 10, the reference device 50 is placed at a predetermined location, and the reference device 50 is sensed by the radio wave sensor 10. The reference device 50 reflects radio waves transmitted from the radio wave sensor 10 for sensing by the radio wave sensor 10.

[0063] The reference device 50 includes a reflecting unit whose movement (action) is controlled by a controller 51. The reflecting unit may be, for example, a reflector 52 or a module including the reflector 52 as a component. The reflector 52 is formed by a member that efficiently reflects radio waves. The reference device 50 includes the reflector 52, thereby facilitating the sensing of the reference device 50 by the radio wave sensor 10. The reflector 52 is made of, for example, metal. The reference device 50 includes a reflector driving unit 53 that moves the reflector 52. The posture of the reflector 52 is changed by the reflector driving unit 53. The reflector driving unit 53 includes, for example, a motor. The motor, for example, causes the reflector 52 to swing, but the movement of the reflector 52 is not limited to swinging.

[0064] The movement of the reflector 52 is preferably a movement that causes the intensity of the reflected wave reaching the electric wave sensor 10 to change over time. For example, when the reflector 52 has a reflection surface for electric waves, the movement that causes the intensity of the reflected wave reaching the electric wave sensor 10 to change over time is an movement that changes the posture of the reflector 52 between a posture in which the reflection surface is directly opposite to the electric wave sensor 10 and a posture in which the reflection surface is not directly opposite to the electric wave sensor 10.

[0065] The reference device 50 of the embodiment includes a self-propelled traveling body 54 . The traveling body 54 includes wheels or tracks driven by a driving source such as an engine or a motor. The location (position coordinates on the road) of the reflector 52 is changed by the traveling body 54 .

[0066] The controller 51 of the reference device 50 controls the movement of the reflector 52 and the movement (movement) of the reference device 50 realized by the traveling body 54. The reference device 50 receives instructions from an external device such as the processing device 30, and is remotely operated according to the instructions. In order to communicate with the external device, the reference device 50 is provided with a communication interface 55. For example, when the controller 51 of the reference device 50 receives an instruction for the posture change action of the reflector 52 from the processing device 30, the reflector driving unit 53 is controlled to move according to the instruction. In addition, when the controller 51 receives an instruction for movement from the processing device 30, the traveling body 54 is driven according to the instruction.

[0067] Figures 3 to 6 FIG. 1 shows the procedure for setting up the radio wave sensor 10. First, Figure 3 In step S11, the target area 100 is determined, and in step S12, the installation position of the radio wave sensor 10 is determined. In step S13, the installation direction of the radio wave sensor 10 is determined. Steps S11 to S13 are operations performed on paper before the installation operation of the radio wave sensor 10.

[0068] In step S11, the range of the target area 100 is appropriately determined based on the shape of the crosswalk 110, the shapes of the sidewalks 111 and 112, and the shape of the roadway 113 on a map or satellite photo including the location where the radio wave sensor 10 is installed (see Figure 4 ).

[0069] In the next step S12, the installation position of the radio wave sensor 10 is determined in consideration of the presence of a member (such as a traffic light) that can serve as the supporting member 10A of the radio wave sensor 10 (see Figure 4 ). Then, in step S13, the orientation D (reference direction) of the radio wave sensor 10 when it is installed is determined in such a way that the reflected power in the entire target area 100 becomes high based on the directional characteristics of the radio wave sensor 10 (refer to Figure 4 ). With the determination of the direction D of the radio wave sensor 10, a reference position A existing in the direction D to which the radio wave sensor 10 should be oriented is determined. When the radio wave sensor 10 is installed at the installation site, the direction of the radio wave sensor 10 is adjusted so that the radio wave sensor 10 is oriented toward the reference position A (see Figure 4 ).

[0070] The steps after step S14 are performed at the installation site of the radio wave sensor 10. In step S14, the radio wave sensor 10 is installed at the installation position determined in step S12. The radio wave sensor 10 is installed on the supporting member 10A such as the support column of the traffic light. At the time of completing the installation in step S14, the orientation of the radio wave sensor 10 has not been adjusted. Therefore, at the time of completing step S14, if Figure 5 As shown, the sensing range 500 of the radio wave sensor 10 may not cover the entire target area 100 .

[0071] In step S15, the orientation (angle) of the electric wave sensor 10 is adjusted. The orientation adjustment of the electric wave sensor 10 includes at least one of the orientation (angle) adjustment of the horizontal direction of the electric wave sensor 10 and the orientation (angle) adjustment of the vertical direction. The adjuster rotates the electric wave sensor 10 left and right so that the electric wave sensor 10 faces the reference direction D, thereby adjusting the orientation in the horizontal direction. Through this adjustment, the object area 100 falls within the sensing range 500 of the electric wave sensor 10. The adjuster rotates the orientation of the electric wave sensor 10 up and down, thereby adjusting the vertical direction. The vertical adjustment is adjusted in such a way that the electric wave sensor 10 faces the depression angle at which the reflected power from the object area 100 becomes higher.

[0072] In step S16, the target area 100 is set in the radio wave sensor 10. The setting in step S16 is performed using the processing device 30 connected to the radio wave sensor 10. In setting the target area 100 in step S16, the target area 100 determined in step S11 is set in the coordinate system of the radio wave sensor 10 after the orientation is adjusted.

[0073] In order to confirm whether the setting of the object area 100 is performed correctly, Figure 6 As shown in FIG. 1 , a reference object such as a reference device 50 is provided in the target area 100 and near the area end 100A (reference position). Figure 6 2 also shows sensing result screens 600A and 600B displayed on the display 33 of the processing device 30. The sensing result screens 600A and 600B include: a sensor display 610 indicating the position of the radio wave sensor 10; an object area display 620 indicating the object area 100; and a sensed object display 630 indicating the sensed object.

[0074] When the target area 100 is set correctly, Figure 6 As shown in screen 600A of FIG. 6 , the sensed object display 630 is located within the target region display 620. In this case, the setting of the target region 100 is completed.

[0075] On the other hand, if the target area 100 is not set correctly, Figure 6 As shown in the screen 600B, the sensed object display 630 is outside the target area display 620. In this case, it is necessary to reset the target area 100. After resetting the target area 100 using the processing device 30, the adjuster reconfirms whether the target area 100 is correctly set.

[0076] In this way, when adjusting the orientation of the radio wave sensor 10 and the setting of the confirmation target area 100, the reference object is arranged at a predetermined reference position ( Figure 4 The reference position or Figure 6 Then, the radio wave sensor 100 senses the reference object arranged at the reference position. However, in the case of a crosswalk 110 where many pedestrians are present, it becomes difficult to distinguish between pedestrians and the reference object. Figure 7As shown, it is assumed that pedestrians W1, W2, W3, W4, W5, and W6 exist in the target area 100 or in the vicinity of the target area 100. In this case, when the reference object 50A having the reflector 52 is arranged at the area end 100A, sometimes the reflected waves from the pedestrians W1, W2, W3, W4, W5, and W6 and the reflected waves from the reflector 52 are sensed in the same manner and cannot be distinguished. The reflected waves from the pedestrians become noise that is difficult to distinguish from the reflected waves from the reflector 52. It should be noted that not only pedestrians, but also bicycles, two-wheeled motor vehicles, guardrails, billboards, utility poles, etc. may also become the source of noise.

[0077] Figure 8 It shows that Figure 7 As shown, a sensing result screen 600 is displayed on the display 33 of the processing device 30 when pedestrians W1, W2, W3, W4, W5, W6 and the reference object 50A are present. Figure 8 The sensing results w1, w2, w3, w4, w5, and w6 in Figure 7 Pedestrians W1, W2, W3, W4, W5, and W6 correspond to each other. In addition, Figure 8 The sensing result 50a in Figure 7 In the sensing result screen 600, the pedestrian and the reference object are both sensed as the same object, so it is sometimes difficult to distinguish between the two.

[0078] Fig. 9 The first example of a method for distinguishing between pedestrians and reference objects (a method for distinguishing between noise as reflected waves reflected from pedestrians, etc. and reflected waves from reflectors) is shown. Here, as an example, the reference device 50 of the embodiment is used as a reference object, and the same is true in the second and third examples described later. However, the reference object may also be a person holding a reflector. In addition, here, as an example, the reference position of the reference device 50 should be set to Figure 7 The area end 100A of the target area 100 is shown.

[0079] First, in Fig. 9 In step S101, the reference device 50 (reference object) moves to a position B1 (initial position) away from the area end 100A as the reference position. Position B1 is preferably a position where there are no pedestrians or other reflective objects. For position B1, when it is outside the target area 100, there are few pedestrians, etc., so it is preferred. Position B1 is preferably within the sensing range 500 of the radio wave sensor 10. In other words, position B1 is preferably within the range that can be displayed on the sensing result screen 600.

[0080] It should be noted that, if there is no position where pedestrians or other objects do not exist (step S102: No), the reference device 50 waits for a time until a position where other objects do not exist appears (step S103). Once a position where other objects do not exist appears, the reference device 50 moves to the position where other objects do not exist.

[0081] When the reference device 50 is located at the area end 100A as the reference position, the adjuster who sets the reference position recognizes the reference device 50 on the screen 600 with reference to the display 33 of the processing device 30 (step S104). At this time, the reference device 50 is located at the position B1 away from the area end 100A as the reference position, so even if there are pedestrians or the like near the area end 100A, the adjuster can easily distinguish between the pedestrians and the reference device 50 on the screen 600. That is, on the screen 600, if there are no sensing results w1, w2, w3, w4, w5, and w6 indicating pedestrians or the like near the sensing result 50a of the reference device 50, it becomes easier to recognize the presence of the reference device 50 on the screen 600.

[0082] Next, the reference device 50 moves to the area end 100A as the reference position (step S105). The movement path (reference path) of the reference device 50 is preferably determined in advance. Fig.10 As shown, the screen 600 shows the movement of the sensing result 50 a of the reference device 50 . Thus, the adjuster can check the movement trajectory P of the reference device 50 on the screen 600 .

[0083] The reference device 50 performs activities such as movement, thereby making it easy to distinguish it from stationary objects such as telephone poles. In addition, the reference device 50 performs unique activities, thereby making it easy to distinguish it from other moving objects such as pedestrians. For example, if a reference path for the movement of the reference device 50 is determined in advance and the adjuster knows the reference path, the adjuster can easily identify an object having a movement trajectory P that conforms to the reference path as the reference device 50 (step S106). Therefore, the adjuster can reliably distinguish other objects such as pedestrians from the reference device 50.

[0084] The reference path preferably includes a path that pedestrians do not usually take. For example, a path that pedestrians do not usually take is a path that pedestrians zigzag toward the area end 100A as the reference position. The reference device 50 moves in a path that pedestrians do not usually take, thereby making it easy to distinguish between the reference device 50 and pedestrians.

[0085] It should be noted that sometimes the phase of the reflected wave may change with time due to the movement of the reference device 50. The adjuster may also identify the reference device 50 based on the change in the phase of the reflected wave. The change in the phase of the reflected wave is preferably a change in the phase with a regularity unique to the reference device 50, which is different from the change in the phase of the reflected wave from pedestrians, etc. In addition, the adjuster may also identify the reference device 50 based on the intensity of the reflected wave that changes according to the change in the phase of the reflected wave.

[0086] When the reference device 50 reaches the area end 100A as the reference position, it stops at the position (step S107). When the reference device 50 stops, the display of the sensing result 50a of the reference device 50 on the screen 600 also stops. Therefore, the adjuster can recognize the stop position of the reference device 50 on the screen 600 as the position coordinate (reference point) of the reference position in the coordinate system of the radio wave sensor 10 (step S108). In this way, the adjuster can easily determine that the reference device 50 has reached the reference position by confirming the movement trajectory of the reference device 50.

[0087] Fig.11 Shown in Fig. 9 1 and 2 . The communication processing and information processing performed by the processing device 30 and the reference device 50 in the sequence shown. First, the processing device 30 sends a first instruction to move the reference device 50 to the initial position B1 to the reference device 50 (step S201). The reference device 50 that receives the first instruction moves to the initial position B1 (step S211). It should be noted that the setting of the reference device 50 to the initial position B1 can also be performed by an adjuster. In addition, the processor 31 of the processing device 30 that sends the first instruction functions as an instruction unit that sends an instruction to move the reference object in a manner that produces a temporal change in the sensing data to the reference device 50 (reference object), wherein the sensing data is obtained from the reflected wave of the radio wave obtained through the reference object.

[0088] Next, the processing device 30 sends a second instruction to move the reference device 50 to the area end 100A as the reference position to the reference device 50 (step S202). The second instruction may also include data representing a reference path from the initial position B1 to the reference position. The controller 51 of the reference device 50 that receives the second instruction controls the traveling body 54 so that the reference device 50 moves along the reference path to the area end 100A as the reference position (step S212). It should be noted that as the reference device 50 moves, the coordinate position of the reference device 50 sensed by the radio wave sensor 10 changes. In addition, in the embodiment, the reflector 52 is inactive during the movement of the reference device 50, but it may also be active. In addition, the processor 31 of the processing device 30 that sends the second instruction functions as an instruction unit that sends an instruction to move the reference object in a manner that generates a temporal change in the sensing data to the reference device 50 (reference object), wherein the sensing data is obtained from the reflected wave of the radio wave obtained by the reference object.

[0089] exist Fig.11 In the process, the processing device 30 performs the following processing: distinguishing the reference device 50 from other objects among the objects sensed by the radio wave sensor 10, and identifying the reference position. In order to identify the reference device 50, the processing device 30 has data of a predetermined reference path (data indicating an activity as a reference object). The processing device 30 obtains the sensing data from the radio wave sensor 10, and identifies an object that has performed an activity that conforms to the data of the reference path from among the objects sensed by the radio wave sensor 10 as the reference device 50 (step S203). The sensing data includes the coordinate data of the sensed object, so the processing device 30 identifies the moving path P of each object based on the temporal change of the coordinates represented by the coordinate data. Then, the processing device 30 compares the data of the reference path with the identified moving path P, and identifies the object that moves on the moving path P that conforms to the reference path as the reference device 50. It should be noted that the processing device 30 can also identify the reference device 50 by analyzing the temporal change of the phase using the phase data of the reflected wave included in the sensing data. In addition, the reference device 50 can also be identified by the adjuster instead of the processing device 30.

[0090] When the reference device 50 stops at the area end 100A serving as the reference position, the processing device 30 identifies the stop position as the reference position in the coordinate system of the radio wave sensor 10 (step S204). In this way, the processing device 30 can easily identify the reference position by identifying the movement trajectory P of the reference device 50. It should be noted that the reference position can also be identified by an adjuster instead of the processing device 30.

[0091] Fig.12A second example of a method of distinguishing pedestrians from reference objects (a method of distinguishing noise as reflected waves from pedestrians, etc. and reflected waves from reflectors) is shown. Here again, the reference position where the reference device 50 should be installed is set to the region end 100A of the target region 100.

[0092] In the second example, first, the reference device 50 is configured at the area end 100A as the reference position (step S301). Next, at the reference position, the reflector 52 moves (step S302). As an example, the movement of the reflector 52 here includes swinging left and right or up and down. The movement of the reflector 52 may also include forward and backward movement. It should be noted that when swinging, the traveling body 54 stops at the reference position, so the coordinate position of the reference device 50 sensed by the radio wave sensor 10 (the position in the two-dimensional coordinates on the road surface) is maintained.

[0093] As the reflector 52 swings, the state where the reflection surface of the electric wave of the reflector 52 faces the electric wave sensor 10 is ensured discretely or periodically. When the reflection surface of the electric wave of the reflector 52 faces the electric wave sensor 10, a strong reflection intensity is obtained. By swinging, the state where the reflection surface of the electric wave of the reflector 52 faces the electric wave sensor 10 is obtained discretely or periodically, so a strong reflection intensity is also obtained discretely or periodically (step S303).

[0094] like Fig.13 As shown, when the reflector 52 is fixedly arranged, sometimes the reflection surface 52a of the electric wave of the reflector 52 is not correctly facing the electric wave sensor 10. In this case, the component of the reflected wave R of the transmission wave T from the electric wave sensor 10 toward the electric wave sensor 10 decreases. As a result, the intensity of the reflected wave R sensed by the electric wave sensor 10 becomes weak. Therefore, even if a reflector 52 with good reflection efficiency is used, a sufficiently large reflection intensity cannot be obtained, and it becomes difficult to distinguish from other objects such as pedestrians. In addition, when the reflector 52 is fixedly arranged, it becomes difficult to distinguish from stationary objects such as electric poles.

[0095] On the other hand, when the reflector 52 is swung as in the second example, Fig.14 As shown, the state where the reflecting surface 52a of the reflector 52 faces the electric wave sensor 10 is ensured discretely or periodically. During the swing, the intensity of the reflected waves R2 and R3 in the state where the reflecting surface 52a does not face the electric wave sensor 10 is weak, but the intensity of the reflected wave R1 in the state where the reflecting surface 52a faces the electric wave sensor 10 becomes large. Therefore, by the swing of the reflector 52, a strong reflection intensity is obtained discretely or periodically.

[0096] The movement of the reflector 52 may be random or periodic. When the movement of the reflector 52 is periodic, the change in reflection intensity becomes periodic, and identification of the reference device 50 becomes easy. Fig.15 The reflector 52 is shown as being active in a state where the state M1 in which the reflecting surface 52a of the reflector 52 is not facing the electric wave sensor 10 and the state M2 in which the reflecting surface 52a of the reflector 52 faces the electric wave sensor 10 are switched every second. In the state where the state M1 and the state M2 are switched in a one-second cycle, as shown in FIG. Fig.16 As shown in FIG. 1 , a strong reflection intensity is obtained in a one-second period. The change pattern of the reflection intensity has a unique pattern that is not produced in the reflection waves from pedestrians, etc., so that it is easy to identify the reference device 50 that is distinguished from pedestrians. In addition, the reference device 50 performs activities such as swinging, thereby making it easy to distinguish from stationary objects such as telephone poles.

[0097] The change in reflection intensity is displayed on the screen 600 in a manner that the adjuster can visually confirm. Therefore, the adjuster can distinguish the object whose reflection intensity changes according to the movement of the reflector 52 from other objects such as pedestrians by referring to the screen 600 as the reference device 50. The adjuster can recognize the position of the reference device 50 on the screen 600 as the position coordinate of the reference coordinate in the coordinate system of the radio wave sensor 10 (step S304).

[0098] It should be noted that the phase of the reflected wave may change with time due to the movement of the reflector 52. Therefore, the phase change may be displayed on the screen 600, and the reference device 50 may be identified based on the phase change.

[0099] Fig.17 Shown in Fig.12 The communication processing and information processing performed by the processing device 30 and the reference device 50 in the sequence shown. Here, it is assumed that the reference device 50 is pre-installed at the area end 100A as the reference position. The processing device 30 sends a command to swing the reflector 52 to the reference device 50 (step S401). The controller 51 of the reference device 50 that receives the command controls the reflector driving unit 53 to swing the reflector 52 (step S411).

[0100] exist Fig.17In the process, the processing device 30 performs the following processing: distinguishing the reference device 50 from other objects among the objects sensed by the radio wave sensor 10, and identifying the reference position. In order to identify the reference device 50, the processing device 30 has data indicating the pattern of activity of the reflector 52 determined in advance (data indicating the activity as the reference of the reference object). The processing device 30 obtains the sensing data from the radio wave sensor 10, and identifies the object that performs the activity (for example, regular activity) that conforms to the data indicating the pattern of activity of the reflector 52 from the objects sensed by the radio wave sensor 10 as the reference device 50 (step S402). The sensing data includes the data of the reflection intensity from the sensed object, so the processing device 30 can distinguish the reference device 50 from other objects such as pedestrians by analyzing the temporal change of the reflection intensity. It should be noted that the reference device 50 can also be identified by using the data of the phase of the reflected wave included in the sensing data to analyze the temporal change of the phase.

[0101] When the processing device 30 recognizes the reference device 50, it recognizes the position of the reference device 50 as the reference position in the coordinate system of the radio wave sensor 10 (step S403). In this way, the processing device 30 can easily recognize the reference position by analyzing the change pattern of the reflection intensity.

[0102] Fig.18 A third example of a method for distinguishing between pedestrians and reference objects (a method for distinguishing between noise as a reflected wave reflected from a pedestrian or the like and a reflected wave from a reflector) is shown. Here, too, the reference position at which the reference device 50 should be set is set to the region end 100A of the target region 100. The third example is roughly equivalent to a combination of the first example and the second example. In the third example, the description of the first example and the second example is cited for aspects not particularly described.

[0103] First, the processing device 30 sends a first instruction to move the reference device 50 to the initial position B1 to the reference device 50 (step S501). The reference device 50 that receives the first instruction moves to the initial position B1 (step S511). Next, the processing device 30 sends a second instruction to swing the reflector 52 to the reference device 50 (step S502). The controller 51 of the reference device 50 that receives the second instruction controls the reflector drive unit 53 to swing the reflector 52 (step S512). The processing device 30 acquires sensing data from the radio wave sensor 10 and identifies the reference device 50 based on the temporal change of the reflection intensity (step S503). By swinging the reference device 50 at the initial position B1, the processing device 30 can easily identify the reference device 50 located at the initial position B1.

[0104] Next, the processing device 30 sends a third instruction to the reference device 50 to move toward the area end 100A as the reference position (step S504). The third instruction may include data indicating a reference path from the initial position B1 to the reference position. The controller 51 of the reference device 50 that receives the third instruction controls the traveling body 54 to move the reference device 50 toward the area end 100A as the reference position along the reference path (step S513).

[0105] The processing device 30 acquires the sensing data from the electric wave sensor 10, and tracks and identifies the reference device 50 moving from the initial position B1 based on the coordinate data included in the sensing data (step S505). In the third example, at the time point when the reference device 50 exists at the initial position B1 (before moving to the reference position), the reference device 50 has been identified in a manner distinguishable from other objects, so if the object gradually moving from the initial position B1 is tracked, the current position of the reference device 50 can be grasped.

[0106] When the reference device 50 stops at the area end 100A, the processing device 30 recognizes the position of the area end 100A as the reference position in the coordinate system of the radio wave sensor 10 (step S506). It should be noted that the reference device 50 may further perform a swinging operation at the reference position.

[0107] By including both the movement of the reference device 50 and the swing of the reflector 52 as the activity of the reference device 50 as in the third example, the recognition of the reference device 50 becomes easier.

[0108] It should be noted that the embodiments disclosed herein are illustrative in all aspects and are not restrictive. The scope of the present disclosure is not indicated by the above meaning but by the claims, and is intended to include all changes within the meaning and scope equivalent to the claims.

[0109] [Note]

[0110] The present disclosure includes the following aspects.

[0111] A. A processing device for use in an adjustment method for an electric wave sensor, the adjustment method for the electric wave sensor comprising at least one of a process of moving the reference object in a manner that generates a temporal change in sensing data obtained from a reflected wave of an electric wave that is sent to a reference object having a reflecting portion and reflected by the reflecting portion, and a process of moving the reflecting portion in a manner that generates a temporal change in sensing data obtained from the reflected wave, the processing device comprising a determination unit configured to distinguish the reflected wave from noise using the temporal change in the sensing data, the determination unit configured to distinguish the reflected wave from noise by determining whether the temporal change in the sensing data has changed in accordance with a predetermined movement of the reference object or the reflecting portion.

[0112] Description of Reference Numerals

[0113] 10: radio wave sensor, 10A: supporting member, 11: transmitter, 12: receiver, 13: signal processing circuit, 14: communication interface, 30: processing device, 31: processor, 32: storage device, 32A: computer program, 33: display, 34: communication interface, 50: reference device, 50A: reference object, 50a: sensing result, 51: controller, 52: reflector, 52a: reflecting surface, 53: reflector driving unit, 54: traveling body, 55: communication interface, 100: target area, 100A: area end, 100B: area end, 100C: area end, 100D: area end, 110: crosswalk, 111: sidewalk, 112: sidewalk, 113: Roadway, 500: Sensable range, 600: Sensing result screen, 600A: Sensing result screen, 600B: Sensing result screen, 610: Sensor display, 620: Object area display, 630: Sensing object display, A: Reference position, B1: Initial position, D: Reference direction, M1: State, M2: State, P: Moving trajectory (moving path), R: Reflected wave, R1: Reflected wave, R2: Reflected wave, R3: Reflected wave, T: Transmitted wave, W1: Pedestrian, W2: Pedestrian, W3: Pedestrian, W4: Pedestrian, W5: Pedestrian, W6: Pedestrian, w1: Sensing result, w2: Sensing result, w3: Sensing result, w4: Sensing result, w5: Sensing result, w6: Sensing result.

Claims

1. A method for adjusting a radio wave sensor, the radio wave sensor transmitting radio waves to a reference object having a reflecting portion and receiving a reflected wave which is the radio wave reflected by the reflecting portion, the method comprising: a process of moving the reference object in such a manner as to produce a temporal change in the sensing data obtained from the reflected wave and a process of moving the reflecting portion in such a manner as to produce a temporal change in the sensing data obtained from the reflected wave; and A process of using the temporal change of the sensing data to distinguish the reflected wave from noise to identify the reference object, The process of moving the reflecting part includes moving the reflecting part while maintaining the position of the reference object, The process of animating the reference object includes animating the reference object in a manner that a position of the reference object changes.

2. The method for adjusting the radio wave sensor according to claim 1, wherein: The process of moving the reference object or the process of moving the reflecting unit includes moving the reference object or the reflecting unit in a manner that causes a temporal change in at least one of the radio wave intensity of the reflected wave and the phase of the reflected wave.

3. The method for adjusting an electric wave sensor according to claim 1 or 2, wherein: The process of moving the reflective portion includes moving the reflective portion periodically.

4. The method for adjusting the radio wave sensor according to claim 1, wherein: After the reflecting portion is moved while maintaining the position of the reference object, the reference object is moved so that the position of the reference object changes.

5. The method for adjusting the radio wave sensor according to claim 1 or 4, wherein: Moving the reflecting portion while maintaining the position of the reference object includes moving the reflecting portion at a reference position where the reference object is provided in order to adjust the radio wave sensor.

6. The method for adjusting an electric wave sensor according to claim 1 or 4, wherein: Moving the reference object so that the position of the reference object changes includes moving the reference object from a position other than a reference position toward the reference position, the reference position being a position where the reference object is set in order to adjust the radio wave sensor.

7. The method for adjusting an electric wave sensor according to claim 1 or 2, The method further includes a process of outputting the temporal change of the sensing data.

8. The method for adjusting an electric wave sensor according to claim 1 or 2, wherein: The sensing data includes at least one data selected from the group consisting of data indicating the electric wave intensity of the reflected wave, data indicating the phase of the reflected wave, and data indicating the position of the reference object.

9. The method for adjusting an electric wave sensor according to claim 1 or 2, wherein: The process of distinguishing the reflected wave from the noise is performed by a processing device that performs a process of distinguishing the reflected wave from the noise.

10. The method for adjusting the electric wave sensor according to claim 9, wherein: The processing includes determining, by the processing device, whether the temporal variation of the sensing data matches a predetermined movement of the reference object or the reflecting portion.

11. A processing device for use in a method for adjusting an electric wave sensor, the method comprising: moving the reference object so as to cause a temporal change in sensing data obtained from a reflected wave of an electric wave transmitted to a reference object having a reflecting portion and reflected by the reflecting portion, and moving the reflecting portion so as to cause a temporal change in sensing data obtained from the reflected wave. The processing device includes a determination unit configured to distinguish the reflected wave from noise using the temporal change of the sensing data to thereby identify the reference object. The process of moving the reflecting part includes moving the reflecting part while maintaining the position of the reference object, The process of animating the reference object includes animating the reference object in a manner that a position of the reference object changes.

12. A computer-readable non-transitory storage medium storing a computer program for causing a computer as a processing device to operate, the processing device being used in a method for adjusting a radio wave sensor, the method comprising a process of moving the reference object so as to cause a temporal change in sensing data obtained from a reflected wave of a radio wave transmitted to a reference object having a reflecting portion and reflected by the reflecting portion, and a process of moving the reflecting portion so as to cause a temporal change in sensing data obtained from the reflected wave, wherein: The computer program is configured to cause the computer to execute a process of distinguishing the reflected wave from noise using the temporal change of the sensing data to thereby identify the reference object. The process of moving the reflecting part includes moving the reflecting part while maintaining the position of the reference object, The process of animating the reference object includes animating the reference object in a manner that a position of the reference object changes.

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