LiDAR SYSTEM AND CONTROL DEVICE

Abstract

To provide a LiDAR system and a control device with which it is possible to acquire a moving direction of a moving object.SOLUTION: The present invention comprises: a LiDAR device 20 that supplies a signal pertaining to point cloud data obtained by measuring a distance to an object in a prescribed measurement region S; and a control device 10. The control device 10 detects a position of a moving object V from the point cloud data in a prescribed frame and a first prior frame preceding the prescribed frame, calculates a movement direction of the moving body V in the prescribed frame from the detected position, sets a movement direction range on the basis of the movement direction of the moving object V in a plurality of frames before a second prior frame preceding the prescribed frame, and acquires the movement direction of the moving object V in a third prior frame preceding the prescribed frame, as the moving direction of the moving object V in the prescribed frame, when the movement direction of the moving object V in the prescribed frame deviates from the movement direction range.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a LiDAR system and a control device. [Background technology]

[0002] There is provided a system that acquires point cloud data detected three-dimensionally using a LiDAR device and detects a moving object from the acquired point cloud data. When such a system detects the same moving object in multiple frames, it calculates the moving direction of the moving object from the positions of the moving object in the multiple frames. Such a system is disclosed in the following Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-170241 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, due to noise in the point cloud data, the position of the moving object detected from the point cloud data may deviate from the actual position of the moving object. In such a case, if noise occurs irregularly in the point cloud data, the deviation between the position of the moving object detected from the point cloud data and the actual position of the moving object also varies irregularly. Therefore, when the system calculates the moving direction from the position of the moving object in multiple frames, the calculated moving direction of the moving object may vary irregularly.

[0005] Therefore, the present invention provides a LiDAR system and a control device that can appropriately acquire the moving direction of a moving object. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the LiDAR system of the present invention comprises a LiDAR device that supplies a signal related to point cloud data obtained by measuring a distance to an object in a specified measurement area, and a control device, wherein the control device detects the position of a moving body from the point cloud data in a specified frame and a first preceding frame prior to the specified frame, calculates the movement direction of the moving body in the specified frame from the detected position, sets a movement direction range based on the movement direction of the moving body in a plurality of frames prior to a second preceding frame prior to the specified frame, and when the movement direction of the moving body in the specified frame falls outside the movement direction range, obtains the movement direction of the moving body in a third preceding frame prior to the specified frame as the movement direction of the moving body in the specified frame.

[0007] When the moving direction of the moving body in a given frame fluctuates due to noise or the like and falls outside the moving direction range, the LiDAR system acquires the moving direction of the moving body in a frame preceding the given frame as the moving direction of the moving body in the given frame. Therefore, even if the moving direction of the moving body in the given frame deviates from the actual moving direction of the moving body, the LiDAR system can appropriately acquire the moving direction of the moving body in the given frame by excluding the moving direction.

[0008] In the LiDAR system, the control device may set the movement direction range based on an average value and a standard deviation of the movement direction of the moving object in a plurality of frames prior to the second preceding frame.

[0009] In addition, in the above LiDAR system, the movement direction range may be between a value obtained by subtracting a multiplied value obtained by multiplying the standard deviation by a predetermined coefficient from the average value and a value obtained by adding the multiplied value to the average value.

[0010] With this configuration, the LiDAR system can set a valid section in which the moving direction falls with a certain probability. Therefore, the LiDAR system can exclude moving directions that are statistically outliers. Therefore, the LiDAR system can more appropriately obtain the moving direction of the moving object in a certain frame.

[0011] In the LiDAR system, the predetermined coefficient may be larger as the speed of the moving object increases.

[0012] In the LiDAR system, the plurality of frames may be frames in which the movement direction of the moving object falls within a movement direction range in each frame.

[0013] With this configuration, the LiDAR system sets the movement direction range using the movement direction that is within the movement direction range in the past frame. Therefore, the LiDAR system can set an appropriate movement direction range by excluding the movement direction that fluctuates due to noise. Therefore, the LiDAR system can appropriately exclude the movement direction that fluctuates due to noise and appropriately obtain the movement direction of the moving body in the specified frame.

[0014] In the above LiDAR system, when the speed of the moving body in the specified frame is less than a first threshold, the control device may acquire the moving direction of the moving body in the specified frame as the moving direction of the moving body in a fourth preceding frame which precedes the specified frame and in which the speed of the moving body is equal to or greater than the first threshold.

[0015] When the speed of the moving body is slow, noise tends to have a large effect on the calculated moving direction. Therefore, when the effect of noise on the calculated moving direction is large, the LiDAR system can obtain the moving direction calculated in a frame where the effect of noise is small as the moving direction of the moving body in a given frame, and can appropriately obtain the moving direction of the moving body in the given frame.

[0016] The LiDAR system of the present invention comprises a LiDAR device that supplies a signal related to point cloud data obtained by measuring the distance to an object in a specified measurement area, and a control device, wherein the control device displays on a monitor the movement direction of a moving body included in the specified measurement area, and when a signal related to the point cloud data in which the amount of noise in the point cloud data is equal to or greater than a specified amount is input, displays on the monitor one of the past movement directions of the moving body as the movement direction of the moving body.

[0017] When the moving direction of a moving object deviates from the actual moving direction of the moving object due to noise in the point cloud data, the LiDAR system can display on the monitor a moving direction that is closer to the actual moving direction of the moving object.

[0018] The control device of the present invention has a sensor interface connected to a LiDAR device that supplies a signal related to point cloud data obtained by measuring the distance to an object in a specified measurement area, detects the position of a moving body from the point cloud data in a specified frame and a first preceding frame before the specified frame, calculates the movement direction of the moving body in the specified frame from the detected position, sets a movement direction range based on the movement direction of the moving body in a plurality of frames up to a second preceding frame before the specified frame, and if the movement direction of the moving body in the specified frame falls outside the movement direction range, obtains the movement direction of the moving body in a third preceding frame before the specified frame as the movement direction of the moving body in the specified frame.

[0019] When the moving direction of the moving body in a given frame fluctuates significantly due to noise, etc., the control device acquires the moving direction of the moving body in a frame preceding the given frame as the moving direction of the moving body in the given frame. Thus, even if the moving direction of the moving body in the given frame deviates from the actual moving direction of the moving body, the control device can appropriately acquire the moving direction of the moving body in the given frame by excluding the moving direction. Effect of the Invention

[0020] As described above, according to the present invention, a LiDAR system and a control device capable of appropriately acquiring the moving direction of a moving object are provided. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a diagram illustrating a schematic installation state of a LiDAR system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing a configuration of the LiDAR system shown in FIG. 1. [Diagram 3] 3 is a flowchart showing the operation of the control device shown in FIG. 2. [Figure 4] 3 is a diagram showing a moving direction range set by the control device shown in FIG. 2. [Diagram 5] 3 is a diagram showing a display screen displayed by the control device shown in FIG. 2. [Figure 6] 3 is a diagram showing a display screen displayed by the control device shown in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] A preferred embodiment of the present invention will be described in detail below with reference to the drawings. The embodiments exemplified below are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit of the present invention. In the drawings referred to below, the dimensions of each component may be changed to facilitate understanding.

[0023] A LiDAR system according to an embodiment scans a predetermined measurement area in a plurality of consecutive frames using a LiDAR device to obtain point cloud data indicating the three-dimensional coordinates of an object in the measurement area. The LiDAR system detects a moving object from the point cloud data, and identifies and tracks the moving object detected in the plurality of frames. The LiDAR system calculates the moving direction of the moving object and displays it on a monitor. In this embodiment, the moving direction of the moving object is an angle based on a predetermined axis.

[0024] Fig. 1 shows an installation state of a LiDAR system 200 according to this embodiment. As shown in Fig. 1, the LiDAR system 200 according to this embodiment is installed in a fixed state on the side of a road R. The road R has a plurality of lanes, and a moving object V travels on the road R.

[0025] The LiDAR system 200 scans a measurement area S to acquire point cloud data. The LiDAR system 200 tracks a moving object V included in the measurement area S and calculates a moving direction of the moving object V. In this embodiment, the moving direction of the moving object V is an angle based on a horizontal reference axis A that is perpendicular to the direction in which the LiDAR system 200 faces.

[0026] Fig. 2 shows the configuration of a LiDAR system 200 according to this embodiment. As shown in Fig. 2, the LiDAR system 200 mainly includes a control device 10, a LiDAR device 20, and a monitor 30. The control device 10 mainly includes a memory 11, a sensor interface 12, and a monitor interface 13. The sensor interface 12 is electrically connected to the LiDAR device 20. The monitor interface 13 is electrically connected to the monitor 30.

[0027] The LiDAR device 20 irradiates the measurement area S with light in accordance with a control signal from the control device 10, and acquires coordinates of detection points detected in the measurement area S. In this embodiment, the LiDAR device 20 two-dimensionally scans the measurement area S with light and measures the distance between the LiDAR device 20 itself and the detection points where the light is reflected. The LiDAR device 20 calculates the coordinates of the detection points based on the measured distances and the like. When the LiDAR device 20 scans the measurement area S, it generates signals related to point cloud data indicating the coordinates of the detection points for each frame as measurement results, and supplies the signals to the control device 10.

[0028] For example, the LiDAR device 20 includes a light source that emits light and a sensor that receives a reflected wave from a detection point. The number of light sources and sensors, the scanning method, and the scanning direction of the LiDAR device 20 are not limited to a specific configuration. The LiDAR device 20 may irradiate the entire measurement area S with light at once.

[0029] The monitor 30 displays various information in accordance with a control signal from the control device 10. For example, the monitor 30 includes a liquid crystal monitor or an organic EL (Electro Luminescence) display.

[0030] The sensor interface 12 supplies a control signal for starting or ending measurement to the LiDAR device 20. In addition, the sensor interface 12 receives an input of a signal related to point cloud data from the LiDAR device 20.

[0031] The monitor interface 13 supplies the monitor 30 with a signal related to an image to be displayed on the monitor 30 .

[0032] The control device 10 may be, for example, a microcontroller, an integrated circuit such as an IC (Integrated Circuit), an LSI (Large-scale Integrated Circuit), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate Array), or a Numerical Control (NC) device. The control device 10 may also be a central processing unit (CPU), or the like. The control device 10 may also be one that uses a machine learning device, or one that does not use a machine learning device. As described below, some components of the LiDAR system 200 are controlled by the control device 10. The control device 10 executes a program stored in the memory 11 to realize various functions.

[0033] The memory 11 is, for example, a non-transitory recording medium, and is preferably a semiconductor recording medium such as a random access memory (RAM) or a read only memory (ROM), but may include any type of recording medium such as an optical recording medium or a magnetic recording medium. Note that a "non-transitory" recording medium includes all computer-readable recording media except for a transient, propagating signal, and does not exclude volatile recording media.

[0034] The memory 11 prestores programs that cause the control device 10 to realize various functions. The memory 11 also temporarily stores data generated by the execution of the programs, data acquired from other devices, and the like.

[0035] Next, the operation of the LiDAR system 200 of this embodiment will be described. Fig. 3 is a flowchart showing the operation of the control device 10 in this embodiment. The control device 10 realizes the following operations by executing a program stored in the memory 11. As shown in Fig. 3, the flowchart includes steps SP11 to SP18.

[0036] (Step SP11) This step is a step in which the control device 10 acquires a signal related to point cloud data from the LiDAR device 20. For example, the control device 10 transmits a control signal for starting measurement to the LiDAR device 20 via the sensor interface 12 in accordance with a control signal from an external device (not shown) or an operation by an operator. Note that the control device 10 does not need to transmit the control signal to the LiDAR device 20 in step SP11 from the second time onward.

[0037] The LiDAR device 20 scans the measurement area S in accordance with a control signal from the control device 10, measures the distance between the detection point and itself, and acquires the coordinates of the detection point. The LiDAR device 20 supplies the control device 10 with a signal related to point cloud data indicating the coordinates of the detection point in one frame.

[0038] When the control device 10 acquires the signal related to the point cloud data from the LiDAR device 20, the control device 10 proceeds to step SP12.

[0039] (Step SP12) This step is a step in which the control device 10 calculates the bounding box, position, speed and moving direction of the moving object from the point cloud data.

[0040] The control device 10 detects a moving object from the point cloud data. In this embodiment, the control device 10 sets a bounding box in which the moving object of the current frame exists in a predetermined projection plane onto which an object existing in the measurement area S is projected. The projection plane is a plane in which the measurement area S is viewed from a predetermined point. For example, the control device 10 sets the bounding box of the moving object by calculating the difference between the point cloud data and point cloud data obtained by measuring a background prepared in advance. The control device 10 may also set the bounding box of the moving object by a clustering process. The method by which the control device 10 sets the bounding box is not limited to a specific method.

[0041] When the control device 10 sets the bounding box, it acquires coordinates related to the bounding box on the projection plane as the position of the moving object in the current frame. In this embodiment, the control device 10 acquires the coordinates of the center of gravity of the bounding box as the position of the moving object. Note that the control device 10 may acquire the coordinates of one vertex of the bounding box as the position of the moving object.

[0042] When the control device 10 acquires the coordinates of the moving object, it performs a tracking process of the moving object. In this embodiment, the memory 11 stores tracking information of the moving object. The tracking information stores identification information for identifying the moving object and the position of the moving object in a past frame in association with each other. For example, the identification information may be a character, a number, a symbol, or a combination of these. The configuration of the identification information is not limited to a specific configuration. The tracking information may also store the speed and moving direction of the moving object in each frame.

[0043] The control device 10 acquires the position of the moving object detected in the immediately preceding frame from the tracking information. When the control device 10 acquires the position of the moving object detected in the immediately preceding frame, it calculates the distance between the acquired position of the moving object and the position of the moving object detected in the current frame. If the calculated distance is equal to or less than a predetermined threshold, the control device 10 associates the identification information of the moving object detected in the immediately preceding frame with the position of the moving object detected in the current frame and adds them to the tracking information. Through the above operations, the control device 10 identifies the moving object detected in the current frame and the moving object detected in the immediately preceding frame and tracks the moving objects.

[0044] For example, the predetermined threshold value is a value corresponding to 5 m in reality. In this case, when the distance between the position of the moving object in the previous frame and the position of the moving object in the current frame is 5 m or less, the control device 10 identifies the moving object in the previous frame and the moving object in the current frame, and adds the identification information of the moving object in the previous frame and the position of the moving object in the current frame to the tracking information in association with each other.

[0045] If the calculated distance is greater than a predetermined threshold, the control device 10 sets new identification information for the moving object, associates the identification information with the position of the moving object detected in the current frame, and adds the association to the tracking information.

[0046] If no tracking information exists, the control device 10 may set new identification information for the moving object, and generate tracking information that associates the identification information with the position of the moving object detected in the current frame and stores the associated information.

[0047] Furthermore, when a moving object is not detected in the immediately preceding frame, the control device 10 may calculate the distance between the moving object detected in the even earlier frame and the moving object detected in the current frame. In this case, when the calculated distance is equal to or less than a predetermined threshold, the control device 10 may add to the tracking information the identification information of the moving object detected in the even earlier frame and the position of the moving object detected in the current frame in association with each other.

[0048] When the control device 10 performs the tracking process, it calculates the speed of the moving object based on the positions of the moving object in multiple frames. For example, the control device 10 calculates the speed by dividing the distance between the position of the moving object in the immediately preceding frame and the position of the moving object in the current frame by the time between frames. Note that the control device 10 may calculate the speed of the moving object from the positions of the moving object in each frame from a predetermined number of frames back to the current frame.

[0049] After calculating the speed, the control device 10 calculates the moving direction of the moving body based on the position of the moving body in the current frame and the position of the moving body in the first previous frame before the current frame. For example, the control device 10 calculates a vector extending from the position of the moving body in the first previous frame to the position of the moving body in the current frame. The control device 10 calculates the angle between the calculated vector and the reference axis A as the moving direction of the moving body. In this embodiment, the first previous frame is the frame immediately before the current frame. Note that the first previous frame may be a predetermined number of frames, two or more frames, before the current frame. Note that the control device 10 may calculate the moving direction of the moving body from the position of the moving body in each frame from the current frame to the first previous frame.

[0050] When the control device 10 calculates the moving direction of the moving object, the process proceeds to step SP13.

[0051] (Step SP13) In this step, the control device 10 compares the speed of the moving object with a first threshold value. For example, the first threshold value is 1 km / h.

[0052] If the speed of the moving object is equal to or greater than the first threshold, the control device 10 proceeds to step SP14. If the speed of the moving object is less than the first threshold, the control device 10 proceeds to step SP18.

[0053] (Step SP14) In this step, the control device 10 sets the movement direction range based on the movement direction of the moving object in a plurality of frames before the second preceding frame that is before the current frame. In this embodiment, the second preceding frame is the frame immediately before the current frame. Note that the second preceding frame may be a predetermined number of frames equal to or greater than two before the current frame.

[0054] Fig. 4 shows a movement direction range set by the control device 10. In the example shown in Fig. 4, the control device 10 sets the movement direction range based on the movement direction of the moving object in the three frames before the second preceding frame. Fig. 4 also shows the movement direction range in the consecutive frames 1 to 6.

[0055] The control device 10 does not set a movement direction range for frames 1 to 3 because there are no frames immediately preceding those frames, the three frames not being present.

[0056] In frame 4, the control device 10 acquires the moving directions of the moving body from frame 1 to frame 3, and calculates an average value and a standard deviation from the acquired three moving directions. The control device 10 sets a moving direction range based on the average value and the standard deviation. In this embodiment, the control device calculates a multiplication value by multiplying the standard deviation by a predetermined coefficient, and sets a moving direction range that is between a value obtained by subtracting the multiplication value from the average value and a value obtained by adding the multiplication value to the average value. Note that the moving direction range may or may not include the value obtained by subtracting the multiplication value from the average value. Also, the moving direction range may or may not include the value obtained by adding the multiplication value to the average value.

[0057] In the example shown in Figure 4, the average value of the movement direction in frames 1 to 3 is 76, the standard deviation is 10, and the predetermined coefficient is 1. Therefore, the movement direction range in frame 4 is between 66 and 86.

[0058] Moreover, the plurality of frames before the second preceding frame are frames in which the movement direction falls within the movement direction range. In the example shown in Fig. 4, the movement direction of the moving object falls outside the movement direction range in frame 4. Therefore, in frame 5, the control device 10 obtains the movement directions of the moving object in frames 1 to 3 and calculates the average value and standard deviation. The control device 10 sets the movement direction range in frame 5 based on the calculated average value and standard deviation.

[0059] Furthermore, in frame 5, the moving direction of the moving object is included in the moving direction range. Therefore, in frame 6, the control device 10 acquires the moving directions of the moving object in frames 2, 3, and 5, and calculates the average value and standard deviation. The control device 10 sets the moving direction range in frame 6 based on the calculated average value and standard deviation.

[0060] Furthermore, in frame 6, the moving direction of the moving object is included in the moving direction range. Therefore, in frame 7, the control device 10 acquires the moving directions of the moving object in frames 3, 5, and 6, and calculates the average value and standard deviation. The control device 10 sets the moving direction range in frame 7 based on the calculated average value and standard deviation.

[0061] The plurality of frames before the second preceding frame may include a frame whose moving direction is not within the moving direction range. The control device 10 may calculate the moving direction range from the moving directions in the plurality of frames before the second preceding frame, regardless of whether the moving direction is within the moving direction range.

[0062] Once the control device 10 has set the movement direction range, the process proceeds to step SP15.

[0063] The control device 10 may change the predetermined coefficient according to the speed of the moving object. For example, the control device 10 changes the predetermined coefficient to a larger value as the speed of the moving object increases. The control device 10 may set the predetermined coefficient to a first value when the speed of the moving object is less than a second threshold value that is greater than the first threshold value, and may set the predetermined coefficient to a second value that is greater than the first value when the speed of the moving object is equal to or greater than the second threshold value.

[0064] It is considered that the faster the moving body speed is, the smaller the deviation between the calculated moving direction and the actual moving direction will be, even if noise occurs in the point cloud data. Therefore, the faster the moving body speed is, the smaller the variation in the moving direction and the smaller the standard deviation will be. Therefore, when the moving body speed is fast, the moving direction range is unlikely to expand even if the specified coefficient is increased.

[0065] (Step SP15) This step is a step in which the control device 10 judges whether the moving direction of the moving object is included in the moving direction range.

[0066] If the moving direction of the moving object falls within the moving direction range, the control device 10 proceeds to step SP16. If the moving direction of the moving object falls outside the moving direction range, the control device 10 proceeds to step SP17. Note that if the moving direction range has not been set, the control device 10 proceeds to step SP16.

[0067] (Step SP16) This step is a step in which the control device 10 causes the monitor 30 to display the moving direction of the moving object in the current frame.

[0068] The control device 10 causes the monitor 30 to display the moving direction of the moving object calculated in step SP12 as the moving direction of the moving object in the current frame. For example, the control device 10 may cause the monitor 30 to display the moving direction of the moving object as a numerical value. The control device 10 may also cause the monitor 30 to display an arrow or the like indicating the moving direction of the moving object.

[0069] The control device 10 may cause the monitor 30 to display the bounding box of the moving object, the identification information and the speed of the moving object, and the like.

[0070] The control device 10 returns to step SP11 after displaying the bounding box, the identification information, and the like on the monitor 30. Note that the control device 10 may return to step SP11 after a predetermined time has elapsed since completing step SP16.

[0071] (Step SP17) In this step, the control device 10 causes the monitor 30 to display the moving direction of the moving object in the third previous frame before the current frame as the moving direction of the moving object in the current frame. In this embodiment, the third previous frame is the frame immediately before the current frame. Note that the third previous frame may be a frame two or more frames before the current frame.

[0072] The control device 10 acquires the moving direction of the moving object in the third previous frame from the memory 11. The control device 10 causes the monitor 30 to display the acquired moving direction as the moving direction of the moving object in the current frame. As in step SP16, the control device 10 may cause the monitor 30 to display the moving direction of the moving object as a numerical value. The control device 10 may also cause the monitor 30 to display an arrow or the like indicating the moving direction of the moving object.

[0073] The control device 10 may cause the monitor 30 to display the bounding box of the moving object, the identification information and the speed of the moving object, and the like.

[0074] The control device 10 returns to step SP11 after displaying the bounding box, the identification information, and the like on the monitor 30. Note that the control device 10 may return to step SP11 after a predetermined time has elapsed since completing step SP17.

[0075] (Step SP18) In this step, the control device 10 acquires the moving direction of the moving object in the fourth previous frame, which is the frame before the frame in which the speed of the moving object becomes less than the first threshold, as the moving direction of the moving object in the current frame. In this embodiment, the fourth previous frame is the frame immediately before the frame in which the speed of the moving object becomes less than the first threshold.

[0076] The control device 10 acquires the moving direction of the moving object in the fourth previous frame from the memory 11. The control device 10 causes the monitor 30 to display the acquired moving direction as the moving direction of the moving object in the current frame. As in step SP16, the control device 10 may cause the monitor 30 to display the moving direction of the moving object as a numerical value. The control device 10 may also cause the monitor 30 to display an arrow or the like indicating the moving direction of the moving object.

[0077] The control device 10 may cause the monitor 30 to display the bounding box of the moving object, the identification information and the speed of the moving object, and the like.

[0078] The control device 10 returns to step SP11 after displaying the bounding box, the identification information, and the like on the monitor 30. Note that the control device 10 may return to step SP11 after a predetermined time has elapsed since completing step SP18.

[0079] Next, a display screen on which the control device 10 displays the moving direction of the moving object will be described. First, a case where the movement direction calculated in the first frame as the current frame falls within the movement direction range will be described. Fig. 5 shows a display screen 100 displayed on the monitor 30 when the calculated movement direction falls within the movement direction range. The control device 10 executes step SP16 in the first frame to cause the monitor 30 to display the display screen 100.

[0080] In the example shown in FIG. 5, a display screen 100 includes bounding boxes 101 and 102 and an arrow 110.

[0081] Bounding box 101 is the bounding box of the moving object in the first preceding frame of the first frame. Bounding box 102 is the bounding box of the moving object in the first frame. Arrow 110 indicates the direction of movement of the moving object.

[0082] In step SP12, the control device 10 calculates the angle between the vector extending from the center of gravity of the bounding box 101 to the center of gravity of the bounding box 102 and the reference axis A as the moving direction of the moving object.

[0083] As described above, the calculated moving direction falls within the moving direction range. Therefore, arrow 110 indicates the moving direction of the moving object calculated in step SP12. In the example shown in Fig. 5, arrow 110 is in the same direction as the vector extending from the center of gravity of bounding box 101 to the center of gravity of bounding box 102.

[0084] The control device 10 may display the movement direction as a numerical value on the monitor 30 instead of or together with the arrow 110. The bounding box 101 may or may not be displayed as a dashed line.

[0085] Next, a case will be described where the movement direction calculated in the second frame as the current frame falls outside the movement direction range. The second frame is the frame immediately following the first frame. The first preceding frame of the second frame is the first frame.

[0086] Fig. 6 shows a display screen 100 displayed on the monitor 30 when the calculated moving direction is outside the moving direction range. In the example shown in Fig. 6, for example, the control device 10 acquires point cloud data in which the amount of noise is equal to or greater than a predetermined amount in step SP11. For example, the S / N ratio of the point cloud data is equal to or less than a predetermined threshold. For example, a filter for generating noise may be provided between the LiDAR device 20 and the moving object. The amount of noise in the point cloud data becomes equal to or greater than a predetermined amount by the filter. The control device 10 may also add noise to the point cloud data so that the amount of noise becomes equal to or greater than a predetermined amount.

[0087] The control device 10 executes step SP17 in the second frame to cause the display screen 100 to be displayed on the monitor 30. The display screen 100 includes bounding boxes 102 and 103 and an arrow 110.

[0088] Bounding box 102 is the bounding box of the moving object in the first preceding frame of the second frame. Bounding box 103 is the bounding box of the moving object in the second frame. Arrow 110 indicates the direction of movement of the moving object.

[0089] In step SP12, the control device 10 calculates the angle between the vector extending from the center of gravity of the bounding box 102 to the center of gravity of the bounding box 103 and the reference axis A as the moving direction of the moving object.

[0090] As described above, the calculated moving direction falls outside the moving direction range. Therefore, the arrow 110 indicates the moving direction of the moving object in the third preceding frame. In the example shown in Fig. 6, the third preceding frame is the first frame, so the arrow 110 indicates the moving direction of the moving object in the first frame. The control device 10 causes the monitor 30 to display the moving direction of the moving object in a frame earlier than the second frame as the moving direction of the moving object in the second frame.

[0091] The control device 10 may display the movement direction as a numerical value on the monitor 30 instead of or together with the arrow 110. The bounding box 102 may or may not be displayed as a dashed line.

[0092] 5, the control device 10 may display the arrow 110 at a position close to the bounding box 102. In addition, the control device 10 may display the arrow 110 at a position close to the bounding box 103 in the example of FIG.

[0093] The control device 10 may also display the speed of the moving object at a predetermined position inside or near the bounding boxes 101, 102, and 103. The control device 10 may also display identification information of the moving object at a predetermined position inside or near the bounding boxes 101, 102, and 103.

[0094] Furthermore, the control device 10 may cause the monitor 30 to display information indicating the type of the moving body V on the display screen 100. For example, the control device 10 may cause the monitor 30 to display a message or a symbol indicating a "sedan", a "truck", or the like.

[0095] The moving object V may be an aircraft, a ship, a person, an animal, etc. In this case, the control device 10 may display on the monitor 30 a message or a symbol indicating "aircraft", "ship", "person", or "animal" as information indicating the type of the moving object.

[0096] Furthermore, the control device 10 may execute step SP14 after step SP15. In this case, the control device 10 sets the movement direction range in the next frame in step SP14.

[0097] The first, second, third and fourth preceding frames may be the same frame or different frames, or some of the first, second, third and fourth preceding frames may be the same frame and others may be different frames.

[0098] Furthermore, when the distance between a plurality of bounding boxes is equal to or smaller than a predetermined threshold, the control device 10 may reset the plurality of bounding boxes to one bounding box.

[0099] Furthermore, the control device 10 may be configured to output a sound indicating the moving direction of the moving object from a speaker or the like.

[0100] The control device 10 may store information indicating the moving direction of the moving object in the memory 11. The control device 10 may transmit a signal related to the moving direction of the moving object to an external device.

[0101] Furthermore, the LiDAR system 200 does not need to include the monitor 30. In this case, the control device 10 may transmit a control signal for displaying the display screen 100 to an external monitor or the like.

[0102] The LiDAR system 200 may also be installed on a moving body.

[0103] The LiDAR system 200 having the above configuration acquires one of the moving directions of the moving body in past frames as the moving direction of the moving body in the current frame when the moving direction of the moving body in the current frame changes significantly due to noise, etc. Therefore, even if the moving direction of the moving body in the current frame deviates from the actual moving direction of the moving body due to noise, etc., the LiDAR system 200 can appropriately acquire the moving direction of the moving body in the current frame by excluding the deviated moving direction.

[0104] In addition, when the speed of the moving body is less than the first threshold, the LiDAR system 200 acquires the moving direction of the moving body in a frame in which the speed of the moving body is equal to or greater than the first threshold as the moving direction of the moving body in the current frame. When the speed of the moving body is slow, noise has a large effect on the calculated moving direction. Therefore, when the effect of noise on the calculated moving direction is large, the LiDAR system 200 acquires the moving direction calculated in a frame in which the effect of noise is small as the moving direction of the moving body in the current frame. Therefore, even when the effect of noise is large, the LiDAR system 200 can appropriately acquire the moving direction of the moving body in the current frame. Note that the above operation is not essential. The control device 10 of the LiDAR system 200 may proceed from step SP12 to step SP14 without executing step SP13 and step SP18. [Industrial Applicability]

[0105] According to the present invention, a LiDAR system and a control device capable of appropriately acquiring the moving direction of a moving object are provided, and can be used in fields such as detecting moving objects such as vehicles. [Explanation of symbols]

[0106] 10. Control device 11. Memory 12 Sensor Interface 13 Monitor interface 20...LiDAR device 30 Monitor 100...display screen 101...Bounding Box 102...Bounding Box 103...Bounding Box 110...Arrow 200···LiDAR System

Claims

1. A LiDAR device that supplies a signal related to point cloud data obtained by measuring a distance to an object in a predetermined measurement area; A control device; Equipped with The control device includes: Detecting a position of a moving object from the point cloud data in a predetermined frame and a first preceding frame prior to the predetermined frame, and calculating a moving direction of the moving object in the predetermined frame from the detected position; a moving direction range is set based on a moving direction of the moving object in a plurality of frames before a second preceding frame which is before the predetermined frame; When the moving direction of the moving body in the predetermined frame is out of the moving direction range, the moving direction of the moving body in a third preceding frame is acquired as the moving direction of the moving body in the predetermined frame. LiDAR system.

2. The control device includes: The moving direction range is set based on an average value and a standard deviation of the moving direction of the moving object in a plurality of frames before the second preceding frame. The LiDAR system of claim 1 .

3. The movement direction range is between a value obtained by multiplying the standard deviation by a predetermined coefficient, subtracting the multiplied value from the average value, and a value obtained by adding the multiplied value to the average value. The LiDAR system of claim 2.

4. The predetermined coefficient increases as the speed of the moving object increases. The LiDAR system of claim 3.

5. The plurality of frames are frames in which the moving direction of the moving object falls within a moving direction range. The LiDAR system of claim 1 .

6. When the speed of the moving body in the predetermined frame is less than a first threshold, the control device acquires, as the moving direction of the moving body in the predetermined frame, the moving direction of the moving body in a fourth previous frame that is prior to the predetermined frame and in which the speed of the moving body is equal to or greater than the first threshold. The LiDAR system of claim 1 .

7. A LiDAR device that supplies a signal related to point cloud data obtained by measuring a distance to an object in a predetermined measurement area; A control device; Equipped with The control device includes: displaying on a monitor the moving direction of a moving object included in the predetermined measurement area; When a signal related to the point cloud data in which the amount of noise in the point cloud data is equal to or greater than a predetermined amount is input, any one of the past moving directions of the moving body is displayed on the monitor as the moving direction of the moving body. LiDAR system.

8. A sensor interface is connected to a LiDAR device that supplies a signal related to point cloud data obtained by measuring a distance to an object in a predetermined measurement area, Detecting a position of a moving object from the point cloud data in a predetermined frame and a first preceding frame prior to the predetermined frame, and calculating a moving direction of the moving object in the predetermined frame from the detected position; a moving direction range is set based on a moving direction of the moving object in a plurality of frames before a second preceding frame which is before the predetermined frame; When the moving direction of the moving body in the predetermined frame is out of the moving direction range, the moving direction of the moving body in a third preceding frame is acquired as the moving direction of the moving body in the predetermined frame. Control device.

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