Apparatus, method and program for simulation on sensor installation

Abstract

To provide an apparatus, a method and a program for simulation on sensor installation that allow for suppressing the increase of on-site work in installing a sensor.SOLUTION: An apparatus, a method and a program for simulation on sensor installation employ a controller connected to an operation unit and an input / output unit. The operation unit acquires user operation. The controller acquires a three-dimensional model of a surrounding environment including a candidate point of installation through the input / output unit. Based on user operation, a monitoring range is set up within a space to virtually arrange a three-dimensional model. Based on user operation, the position and direction of the sensor within the space is set up. Based on the three-dimensional model, the position and the direction, obstruction information is generated including information indicative of a presence / absence of an obstacle lying between the sensor and the monitoring range. The obstruction information is outputted through the input / output unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a simulation device, a simulation method, and a simulation program related to sensor installation. [Background technology]

[0002] Patent Document 1 discloses a technology related to a sensor that acquires the positions or distances of multiple points in a scene. This technology acquires the positions or distances of multiple points by emitting multiple light beams toward a scene in different directions and at different times, and detecting the light reflected from the scene by each emitted light beam using multiple light receiving elements. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 019906 Summary of the Invention [Problem to be solved by the invention]

[0004] To use the technology described in Patent Document 1, a site survey is conducted at the location where the sensor is to be installed, and the location where the sensor should be installed is considered. However, if there are blind spots or obstacles that cannot be confirmed in the site survey, it may be necessary to reconsider the installation location. In this case, additional surveys and on-site work such as adjusting the position or orientation of the sensor increase, which poses challenges in terms of cost and schedule.

[0005] The present disclosure has been made in view of the above-mentioned problems, and has an object to provide a sensor installation simulation device, a simulation method, and a simulation program that can suppress an increase in on-site work when installing sensors. [Means for solving the problem]

[0006] The simulation device, simulation method, and simulation program for sensor installation according to the present disclosure use a controller connected to an operation unit and an input / output unit. The operation unit acquires user operations. The controller acquires a three-dimensional model of the surrounding environment, including candidate installation locations, via the input / output unit. Based on the user operations, the controller sets a monitoring range within a space in which the three-dimensional model is virtually placed, and sets the position and orientation of the sensor within the space based on the user operations. Based on the three-dimensional model, position, and orientation, the controller generates obstacle information including information indicating the presence or absence of obstacles located between the sensor and the monitoring range. The obstacle information is output via the input / output unit.

[0007] The controller may generate obstruction information based on the three-dimensional model, the position, and the orientation, the obstruction information further including information indicating the degree of obstruction to the sensor by the obstruction.

[0008] The controller may calculate a measurement range of the sensor in space based on the position and orientation, and generate obstruction information based on the measurement range and monitoring range.

[0009] The measurement range may be defined by a distance from the sensor and an angle relative to the orientation.

[0010] The surrounding environment may be the surrounding environment of a road. The three-dimensional model may be a model acquired by at least one of a total station installed on the road, a satellite, and a three-dimensional measuring device mounted on a vehicle traveling on the road.

[0011] The controller may output the position and orientation of the road surface relative to a reference point via the input / output unit. [Effects of the Invention]

[0012] According to the present disclosure, it is possible to provide a simulation device, a simulation method, and a simulation program related to sensor installation that can suppress an increase in on-site work when installing sensors. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a block diagram illustrating a configuration of a simulation device according to an embodiment of the present disclosure. [Figure 2] 1 is a flowchart illustrating a processing procedure of a simulation device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, several exemplary embodiments will be described with reference to the drawings. Note that common parts in the drawings are given the same reference numerals, and duplicated explanations will be omitted.

[0015] [Configuration of the simulation device] Fig. 1 is a block diagram showing the configuration of a simulation device according to an embodiment of the present disclosure. As shown in Fig. 1, the simulation device 20 includes an operation unit 27, an input / output unit 21, and a controller 25. The controller 25 is connected to the input / output unit 21 and the operation unit 27 so as to be able to communicate with them.

[0016] The input / output unit 21 acquires a three-dimensional model of the surrounding environment including candidate locations for installing sensors. The surrounding environment is, for example, the environment around a road. Here, the road is the target of monitoring by the sensor to be installed. The three-dimensional model may be generated by the measurement device 11 connected to the input / output unit 21, or may be stored in the database 13 connected to the input / output unit 21. Note that the input / output unit 21 only needs to be connected to at least one of the measurement device 11 and the database 13, and one of the measurement device 11 and the database 13 may be omitted.

[0017] Here, a "three-dimensional model" is, for example, a model that shows the three-dimensional shape of the surrounding environment. The three-dimensional model may be point cloud data, which is a collection of points that show the positions and shapes of objects in the surrounding environment. Alternatively, the three-dimensional model may be shape data expressed by a wireframe or polygons.

[0018] The "three-dimensional model" may be a model obtained by at least one of a total station installed on a road, a satellite, or a three-dimensional measuring device mounted on a vehicle traveling on the road.

[0019] For example, the measuring device 11 may be at least one of a total station installed on a road, a satellite, or a three-dimensional measuring device mounted on a vehicle traveling on the road. The measuring device 11 is not limited to the examples given here, as long as it is capable of generating a three-dimensional model.

[0020] The measuring device 11 may be a LIDAR (Light Detection and Ranging). LIDAR emits laser light and measures the time and direction of the reflected wave to generate point cloud data indicating the position and shape of objects in the surrounding environment. Alternatively, the measuring device 11 may be a stereoscopic camera composed of multiple cameras. A stereoscopic camera is a device that uses multiple cameras to photograph the same object from different viewpoints, measures the direction and distance to the object, and acquires information indicating the position and shape of the object. The measuring device 11 is not limited to the examples given here.

[0021] The database 13 may store a three-dimensional model. The database 13 may store an environmental map of the surrounding environment (for example, an environmental map acquired by a global navigation satellite system or the like). The three-dimensional model stored in the database 13 may be one acquired in advance by the measurement device 11, or may be one acquired using a device other than the measurement device 11.

[0022] Furthermore, the input / output unit 21 outputs problem information generated by the controller 25, which will be described later. The output problem information may be presented to the user via the display device 15 connected to the input / output unit 21.

[0023] For example, the display device 15 is a display that displays figures and characters by combining a plurality of display pixels. The display device 15 may be a liquid crystal display, an organic EL display, or the like. The display device 15 is not limited to the examples given here. Furthermore, the output destination of the trouble information from the input / output unit 21 is not limited to the display device 15.

[0024] The operation unit 27 is an input device that can be operated by a user of the simulation device 20, and the operation unit 27 acquires operations by the user (user operations). For example, the operation unit 27 is a keyboard, a mouse, a trackball, a touch panel, or the like. The operation unit 27 is not limited to the examples given here. The content of the user's operation input via the operation unit 27 is transmitted to the controller 25.

[0025] For example, the operation unit 27 may acquire an instruction to specify a monitoring range on a road based on a user's operation. Also, the operation unit 27 may acquire an instruction to specify a position of a sensor to be installed or an instruction to specify an orientation of a sensor to be installed based on a user's operation.

[0026] Additionally, the operation unit 27 may acquire, based on a user's operation, an instruction to continue the simulation of the sensor installation performed by the simulation device 20, or an instruction to end the simulation.

[0027] The controller 25 is a general-purpose computer equipped with a CPU (Central Processing Unit), a memory, and an input / output unit. A computer program (simulation program) for functioning as the simulation device 20 is installed in the controller 25. By executing the computer program, the controller 25 functions as a plurality of information processing circuits (251, 253, 255, 257) equipped in the simulation device 20.

[0028] In this disclosure, an example is shown in which multiple information processing circuits (251, 253, 255, 257) are realized by software. However, it is also possible to configure the information processing circuits (251, 253, 255, 257) by preparing dedicated hardware for executing each of the information processes described below. Also, the multiple information processing circuits (251, 253, 255, 257) may be configured by individual hardware.

[0029] As shown in FIG. 2, the controller 25 includes a model acquisition unit 251, a monitoring range setting unit 253, a sensor setting unit 255, and a problem information generation unit 257 as a plurality of information processing circuits (251, 253, 255, 257).

[0030] The model acquisition unit 251 acquires a three-dimensional model related to the surrounding environment via the input / output unit 21. For example, the model acquisition unit 251 acquires a three-dimensional model generated by the measuring device 11 or a three-dimensional model stored in the database 13.

[0031] In particular, the model acquisition unit 251 virtually places a solid (including a road and objects on or around the road) whose shape is expressed by a three-dimensional model in a space where spatial coordinates are defined by three orthogonal axes, i.e., x-axis, y-axis, and z-axis. In this case, the model acquisition unit 251 may place the road so that the road surface coincides with the xy plane.

[0032] By arranging the road so that the road surface coincides with the xy plane, it is possible to simplify the setting of the monitoring range by the monitoring range setting unit 253, which will be described later. For example, when monitoring objects (vehicles, motorcycles, pedestrians, etc.) moving on the road, it may be desirable to exclude from the monitoring range any space that is higher than a predetermined height from the road surface. In this case, by targeting only feature points of the object acquired by the sensor whose z-axis coordinate is equal to or less than a predetermined value, it is possible to exclude from the monitoring range any space that is higher than the predetermined height from the road surface.

[0033] In addition, there are cases where an object having a size equal to or larger than a predetermined size is targeted for detection. In such cases, by targeting only feature points of the object acquired by the sensor whose z-axis coordinates are equal to or larger than the predetermined size, the object having a size equal to or larger than the predetermined size can be targeted for detection. In other words, when excluding objects having a size smaller than the predetermined size from the detection targets, the exclusion process can be achieved by height processing alone.

[0034] Furthermore, by arranging the road so that the road surface is parallel to the xy plane, correction processing for the size of objects detected by the sensor is not required. For example, if the road surface is not parallel to the xy plane, the apparent size of the object when viewed in a cross section parallel to the xy plane may vary depending on the position of the object on the road surface. Size correction processing may be required depending on this variation. However, by arranging the road so that the road surface is parallel to the xy plane, the variation in the apparent size of the object is suppressed, and correction processing for the object size is not required.

[0035] Furthermore, by arranging roads so that the road surface is parallel to the xy plane, the calculation process for the distance traveled and the speed of an object moving on the road surface can be simplified. For example, the z-axis coordinate can be ignored and the distance traveled can be calculated based on the difference in the object's position within the xy plane, reducing the calculation load when calculating the distance traveled. Furthermore, the speed of movement in the z-axis direction can be ignored when calculating the speed of movement, reducing the calculation load when calculating the speed of movement.

[0036] Furthermore, when it is desired to extract only the speed of movement in a specific direction on a road surface, the process of extracting the speed of movement in the specific direction can be simplified by arranging the road so that a predetermined axis is parallel to the specific direction. For example, if the road is arranged so that the x-axis is parallel to the specific direction, the speed of movement in the y-axis and z-axis directions can be ignored, and only the speed of movement in the x-axis direction can be calculated, thereby extracting only the speed of movement in the specific direction.

[0037] The monitoring range setting unit 253 sets a monitoring range within a space in which the three-dimensional model is virtually placed, based on a user operation acquired via the operation unit 27. For example, the monitoring range setting unit 253 may set, as the monitoring range, a rectangular parallelepiped area within the space in which the three-dimensional model is virtually placed, with coordinate points specified by the user as vertices. The monitoring range setting unit 253 may also set, as the monitoring range, a section between a start point and an end point set on a road. The monitoring range setting unit 253 may also set, as the monitoring range, only a predetermined lane of a road having multiple lanes.

[0038] The monitoring range setting unit 253 may exclude from the monitoring range any space that is higher than a predetermined height from the road surface, or any space that is lower than a predetermined height from the road surface. The method of specifying and setting the monitoring range is not limited to the examples given here.

[0039] The sensor setting unit 255 sets the position and orientation of the sensor in the space where the three-dimensional model is virtually arranged, based on the user's operation acquired via the operation unit 27.

[0040] For example, the sensor setting unit 255 acquires designated points located on the surface of a solid whose shape is represented by a three-dimensional model, based on a user operation. The sensor setting unit 255 may acquire three or more designated points. The sensor setting unit 255 may use the center of gravity of the designated points as the reference point. The sensor setting unit 255 may use a point installed on the road surface as the reference point, based on a user operation.

[0041] Then, the sensor setting unit 255 acquires the relative position of the sensor to be attached based on the specified point or the reference point, based on the user's operation, thereby setting the position of the sensor in the space where the three-dimensional model is virtually placed.

[0042] Furthermore, the sensor setting unit 255 acquires the relative orientation of the sensor to be attached based on the specified point or the reference point, based on the user's operation, thereby setting the orientation of the sensor in the space where the three-dimensional model is virtually placed.

[0043] The obstacle information generator 257 generates obstacle information including information indicating the presence or absence of an obstacle located between the sensor and the monitoring range, based on the three-dimensional model, the position of the sensor, and the orientation of the sensor.

[0044] For example, the hindrance information generation unit 257 calculates the measurement range of the sensor in a space where the three-dimensional model is virtually placed, based on the position and orientation of the sensor. The hindrance information generation unit 257 acquires the type of sensor planned to be installed, based on a user operation. Then, based on the acquired type of sensor, the hindrance information generation unit 257 acquires distance and angle information that define the measurement range of the sensor. Here, the "distance" that defines the measurement range of the sensor means the maximum distance to an object that can be measured by the sensor. Furthermore, the "angle" that defines the measurement range of the sensor means the angle of view at which the object can be measured relative to the orientation of the sensor.

[0045] The obstruction information generation unit 257 determines the measurement range of the sensor based on the distance from the sensor and the angle relative to the orientation of the sensor. Furthermore, when calculating the measurement range, the obstruction information generation unit 257 may determine a conversion formula between the coordinate system of the sensor and the coordinate system in the space in which the three-dimensional model is virtually placed. This makes it possible to express the determined measurement range of the sensor in the coordinate system in the space in which the three-dimensional model is virtually placed.

[0046] The obstruction information generating unit 257 may generate obstruction information including information indicating the presence or absence of an obstruction located between the sensor and the monitoring range based on the calculated measurement range and the monitoring range set by the monitoring range setting unit 253.

[0047] For example, the obstruction information generator 257 determines whether each point included in the monitoring range is included in the measurement range. If there is a point that is not included in the measurement range but is included in the monitoring range, the obstruction information generator 257 may determine that the point in the monitoring range cannot be measured by the sensor.

[0048] The hindrance information generating unit 257 then determines whether or not another solid object exists on the line segment connecting each point included in the monitoring range and the measurement range to the sensor. If it is determined that a solid object exists on the line segment, the hindrance information generating unit 257 may determine that the point that is the vertex of the line segment cannot be measured from the sensor. On the other hand, if it is determined that no solid object exists on the line segment, the hindrance information generating unit 257 may determine that the point that is the vertex of the line segment can be measured from the sensor.

[0049] When there is a point that is included in the monitoring range but not included in the measurement range, the obstacle information generating unit 257 generates obstacle information indicating that the entire monitoring range cannot be measured by the sensor.

[0050] Furthermore, when there is a point that cannot be measured by the sensor among points that are included in the monitoring range and the measurement range, the obstruction information generating unit 257 generates obstruction information including information indicating the presence of an obstruction located between the sensor and the monitoring range. Alternatively, the obstruction information generating unit 257 may generate obstruction information that further includes information indicating the degree of obstruction to the sensor caused by the obstruction, based on the number of points that cannot be measured by the sensor. Here, the greater the number of points that cannot be measured by the sensor, the greater the degree of obstruction to the sensor that is indicated by the generated obstruction information.

[0051] The obstacle information generating unit 257 outputs the generated obstacle information via the input / output unit 21. Additionally, the obstacle information generating unit 257 may output the position and orientation of the sensor relative to a reference point installed on the road surface via the input / output unit 21. Furthermore, the obstacle information generating unit 257 may output a diagram showing the positional relationship between the measurement range and the monitoring range via the input / output unit 21.

[0052] [Simulation device processing procedure] FIG. 2 is a flowchart showing a processing procedure of the simulation device according to the embodiment of the present disclosure.

[0053] In step S101, the model acquisition unit 251 acquires, via the input / output unit 21, a three-dimensional model of the surrounding environment including the candidate installation location.

[0054] In step S103, the operation unit 27 acquires a user operation.

[0055] In step S105, based on a user operation acquired via the operation unit 27, a monitoring range is set within a space in which the three-dimensional model is virtually placed.

[0056] In step S107, the sensor setting unit 255 sets the position and orientation of the sensor in the space where the three-dimensional model is virtually arranged, based on the user operation acquired via the operation unit 27.

[0057] In step S109, the obstacle information generating unit 257 generates obstacle information including information indicating the presence or absence of an obstacle located between the sensor and the monitoring range.

[0058] In step S111, the problem information generating unit 257 outputs the generated problem information via the input / output unit 21.

[0059] In step S113, the operation unit 27 acquires a user operation.

[0060] In step S115, the controller 25 determines whether or not to end the process based on the user's operation. If it is determined not to end the process, the process returns to step S103. If it is determined to end the process, the process procedure in FIG. 2 ends.

[0061] [Effects of the embodiment] As described above in detail, the simulation device, simulation method, and simulation program for sensor installation according to the present disclosure use a controller connected to an operation unit and an input / output unit. The operation unit acquires user operations. The controller acquires a three-dimensional model of the surrounding environment including candidate installation locations via the input / output unit. Based on the user operations, the controller sets a monitoring range within a space in which the three-dimensional model is virtually placed, and sets the position and orientation of the sensor within the space based on the user operations. Based on the three-dimensional model, position, and orientation, the controller generates obstacle information including information indicating the presence or absence of obstacles located between the sensor and the monitoring range. The obstacle information is output via the input / output unit.

[0062] This makes it possible to suppress an increase in on-site work when installing sensors. In particular, trial and error of the sensor installation position and orientation can be repeated within a space where a three-dimensional model is virtually placed. In particular, trial and error of the sensor installation position and orientation can be repeated without actually performing measurements on-site using sensors installed at candidate locations. As a result, the optimal sensor position and orientation that does not position any obstacles between the sensor and the monitoring range can be selected before starting work on-site.

[0063] The controller may generate interference information further including information indicating the degree of interference with the sensor due to the interference based on the three-dimensional model, the position, and the orientation. This allows repeated trial and error of the sensor mounting position and orientation while taking the degree of interference into consideration. As a result, the sensor position and orientation can be more flexibly tried and tested. In particular, the user can determine whether or not the sensor mounting position and orientation need to be significantly changed based on the degree of interference.

[0064] The controller may calculate the measurement range of the sensor in space based on the position and orientation, and generate the interference information based on the measurement range and monitoring range. This allows the measurement range of the sensor to be determined, and interference information to be generated taking into account the positional relationship between the measurement range and monitoring range.

[0065] The measurement range may be defined by the distance from the sensor and the angle relative to the direction, which allows the measurement range to be set taking into account various specifications of the sensor.

[0066] The surrounding environment may be the surrounding environment of a road. The three-dimensional model may be a model acquired by at least one of a total station installed on the road, a satellite, or a three-dimensional measuring device mounted on a vehicle traveling on the road. This makes it possible to use a three-dimensional model that reflects the surrounding environment of the road on which the sensor is to be installed. Furthermore, the three-dimensional model can be easily obtained without imposing traffic restrictions on the road on which the sensor is to be installed.

[0067] The controller may output the position and orientation of the road surface relative to a reference point via the input / output unit, allowing the user to recognize the position and orientation of the sensor relative to the reference point, thereby improving the efficiency of on-site work when actually installing the sensor.

[0068] Each function described in the above embodiments may be implemented by one or more processing circuits, including programmed processors, electrical circuits, and even devices such as application specific integrated circuits (ASICs), or circuit components arranged to perform the described functions.

[0069] According to the present disclosure, it is possible to suppress an increase in on-site work and improve the work efficiency of sensor installation work. As a result, the labor productivity of workers is improved. Therefore, it is possible to contribute to, for example, Goal 8 of the Sustainable Development Goals (SDGs) led by the United Nations, "Promote inclusive and sustainable economic growth, full and productive employment and decent work for all."

[0070] Although several embodiments have been described, the embodiments can be modified or varied based on the above disclosure. All components of the above embodiments and all features described in the claims may be individually extracted and combined, unless they are mutually inconsistent. [Explanation of symbols]

[0071] 11 Measuring equipment 13 Database 15 Display device 20 Simulation Device 21 Input / output section 25 Controller 27 Control section 251 Model Acquisition Department 253 Monitoring range setting section 255 Sensor setting section 257 Trouble Information Generation Unit

Claims

1. A simulation device for sensor installation, comprising an operation unit, a controller, and an input / output unit, the operation unit acquires a user operation, The controller acquire a three-dimensional model of the surrounding environment including the candidate installation location via the input / output unit; setting a monitoring range within a space in which the three-dimensional model is virtually placed based on the user operation; setting a position and an orientation of the sensor in the space based on the user operation; generating obstacle information including information indicating the presence or absence of an obstacle located between the sensor and the monitoring range based on the three-dimensional model, the position, and the orientation; outputting the trouble information via the input / output unit; Simulation device.

2. The controller generating the obstruction information based on the three-dimensional model, the position, and the orientation, the obstruction information further including information indicating a degree of obstruction to the sensor caused by the obstruction; The simulation device according to claim 1 .

3. The controller calculating a measurement range of the sensor in the space based on the position and the orientation; generating the fault information based on the measurement range and the monitoring range; The simulation device according to claim 1 .

4. The simulation device according to claim 3 , wherein the measurement range is defined by a distance from the sensor and an angle relative to the orientation.

5. The surrounding environment is a surrounding environment of a road, The simulation device according to any one of claims 1 to 4, wherein the three-dimensional model is a model acquired by at least one of a total station installed on the road, a satellite, or a three-dimensional measuring device mounted on a vehicle traveling on the road.

6. The simulation device according to claim 5 , wherein the controller outputs the position and the orientation of the road surface relative to a reference point via the input / output unit.

7. A simulation method for sensor installation, which controls a controller connected to an operation unit and an input / output unit, the operation unit acquires a user operation, The controller acquire a three-dimensional model of the surrounding environment including the candidate installation location via the input / output unit; setting a monitoring range within a space in which the three-dimensional model is virtually placed based on the user operation; setting a position and an orientation of the sensor in the space based on the user operation; generating obstacle information including information indicating the presence or absence of an obstacle located between the sensor and the monitoring range based on the three-dimensional model, the position, and the orientation; outputting the trouble information via the input / output unit; Simulation method.

8. A simulation program relating to sensor installation, which is executed by a controller connected to an operation unit and an input / output unit, acquiring a user operation by the operation unit; The controller acquiring, via the input / output unit, a three-dimensional model of a surrounding environment including the candidate installation location; setting a monitoring range within a space in which the three-dimensional model is virtually placed based on the user operation; setting a position and an orientation of the sensor in the space based on the user operation; generating obstacle information based on the three-dimensional model, the position, and the orientation, the obstacle information including information indicating the presence or absence of an obstacle located between the sensor and the monitoring range; outputting the problem information via the input / output unit; A simulation program that executes the above.

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