Display device, computer program, and setting method

Abstract

This display device comprises a display unit configured to display a setting screen for setting an infrastructure radio radar that detects a vehicle in a target area by transmitting radio waves to the target area and receiving waves reflected from the vehicle, and an input unit configured to receive a lane shape line indicating the shape of a lane in the target area and the input of a reference point indicating a specific position in the target area. The setting screen includes an image display unit configured to display the lane shape line and the reference point, which are inputted by using the input unit, such that the lane shape and the reference point are superimposed on an image captured by a camera for imaging the target area, and a coordinate-value display unit configured to display a coordinate value corresponding to the reference point. The coordinate value is a coordinate value in a coordinate space for indicating the position of an object detected by the infrastructure radio radar.

Description

[Technical Field]

[0001] This application claims priority to Japanese Patent Application No. 2021-075939 filed on April 28, 2021, and incorporates by reference the entire contents of said Japanese application. [Background technology]

[0002] Patent Document 1 discloses an axis adjustment device that adjusts the axis of an on-board radar mounted on a vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-68746 Summary of the Invention

[0004] A display device according to one aspect of the present disclosure includes a display unit configured to display a setting screen for setting an infrastructure radio wave radar that transmits radio waves to a target area, receives reflected waves from vehicles, and detects vehicles in the target area; and an input unit configured to accept input of lane shape lines that indicate the shape of lanes in the target area and reference points that indicate specific positions in the target area, wherein the setting screen includes an image display unit configured to display the lane shape lines and the reference points input using the input unit by superimposing them on an image obtained by a camera that captures the target area, and a coordinate value display unit configured to display coordinate values ​​corresponding to the reference points, wherein the coordinate values ​​are coordinate values ​​in a coordinate space that indicate the position of an object detected by the infrastructure radio wave radar.

[0005] A computer program according to one aspect of the present disclosure causes a computer to execute the following processes: displaying a setting screen for setting an infrastructure radio wave radar that transmits radio waves to a target area, receives reflected waves from vehicles, and detects vehicles in the target area; and accepting input of lane shape lines that indicate the shape of lanes in the target area and reference points that indicate specific positions in the target area. The setting screen includes: an image display unit configured to display the lane shape lines and the reference points input using the input unit, superimposed on an image obtained by a camera that captures the target area; and a coordinate value display unit configured to display coordinate values ​​corresponding to the reference points, where the coordinate values ​​are coordinate values ​​in a coordinate space that indicate the position of an object detected by the infrastructure radio wave radar.

[0006] A setting method according to one aspect of the present disclosure is a setting method that combines an infrastructure radio wave radar that transmits radio waves to a target area and receives reflected waves reflected by vehicles to detect vehicles in the target area, and a camera that enables optical representation of the field of view of the infrastructure radio wave radar, and includes the steps of determining a reference point that indicates a specific position included in the target area, superimposing and displaying lane shape lines that indicate the shapes of lanes included in the target area and the reference point on an image obtained by the camera, and setting coordinates that indicate the position of the reference point.

[0007] The present disclosure can be realized not only as a display device having the above-described characteristic configuration, but also as a setting method having the above-described characteristic processing steps, or as a computer program causing a computer to execute the above-described method. The present disclosure can be realized as a radar installation angle adjustment system including a display device, or as a semiconductor integrated circuit in which part or all of the display device is implemented. [Brief explanation of the drawings]

[0008] [Figure 1]1 is a diagram illustrating an example of use of an infrastructure radio wave radar according to a first embodiment. FIG. [Figure 2] 1 is a perspective view showing an example of the external configuration of an infrastructure radio wave radar according to a first embodiment. FIG. [Figure 3] 1 is a block diagram showing an example of the configuration of a radar setting device according to a first embodiment. [Figure 4] FIG. 2 is a functional block diagram showing an example of functions of the radar setting device according to the first embodiment. [Figure 5A] FIG. 4 is a diagram showing an example of a setting screen according to the first embodiment. [Figure 5B] FIG. 10 is a diagram showing an example of a setting screen on which basic data is input. [Figure 5C] FIG. 10 is a diagram showing an example of a setting screen on which lane shape lines are drawn. [Figure 5D] FIG. 10 is a diagram showing an example of a setting screen on which a reference point is input. [Figure 5E] FIG. 10 is a diagram showing an example of a setting screen in an edit mode for a lane area. [Figure 5F] FIG. 10 is a diagram showing an example of a setting screen on which a travel path of a vehicle is displayed. [Figure 5G] FIG. 10 is a diagram showing an example of a setting screen after the position and angle of the travel locus have been adjusted. [Figure 5H] FIG. 10 is a diagram showing an example of a setting screen on which the number of vehicles per lane detected by an infrastructure radio wave radar and the number of vehicles per lane input by a user are displayed. [Figure 6A] FIG. 10 is a diagram for explaining an example of initial setting of a lane area in the coordinate space of the radar. [Figure 6B] FIG. 10 is a diagram for explaining an example of setting lane areas in a radar coordinate space. [Figure 7] FIG. 10 illustrates an example of a storage instruction unit. [Figure 8] 5 is a flowchart showing an example of a procedure for lane area setting processing of the radar setting device according to the first embodiment. [Figure 9] FIG. 10 illustrates an example of a selection unit. DETAILED DESCRIPTION OF THE INVENTION

[0009] <Problems to be solved by this disclosure> Radar is also used for traffic monitoring at intersections, roads, etc. Radar is also used for traffic monitoring at intersections, roads, etc. Traffic monitoring radar (infrastructure radio wave radar) detects the position of traveling vehicles for each lane and counts the number of vehicles for each lane, for example. In order for infrastructure radio wave radar to accurately detect vehicles, the relationship between the coordinate space in the infrastructure radio wave radar and the position of the road must be correctly set in the infrastructure radio wave radar. Because the number of lanes, shape, and other configurations of roads differ from road to road, it is not easy to set the relationship between the coordinate space in the infrastructure radio wave radar and the position of the road.

[0010] <Advantages of this disclosure> According to the present disclosure, it is possible to assist in setting the relationship between the coordinate space and the position of the road in an infrastructure radio wave radar.

[0011] <Summary of Embodiments of the Present Disclosure> The following provides an outline of embodiments of the present disclosure.

[0012] (1) A display device according to this embodiment includes a display unit configured to display a setting screen for setting an infrastructure radio wave radar that transmits radio waves to a target area and receives reflected waves from vehicles to detect vehicles in the target area, and an input unit configured to accept input of lane shape lines indicating the shapes of lanes in the target area and reference points indicating specific positions in the target area. The setting screen includes an image display unit configured to display the lane shape lines and the reference points input using the input unit by superimposing them on an image acquired by a camera that captures the target area, and a coordinate value display unit configured to display coordinate values ​​corresponding to the reference points. The coordinate values ​​are coordinate values ​​in a coordinate space that indicates the position of an object detected by the infrastructure radio wave radar. This allows a user to input, on the setting screen, the lane shape lines and reference points used to define the relationship between the coordinate space of the infrastructure radio wave radar and the position of a road, thereby facilitating setting of the relationship between the coordinate space of the infrastructure radio wave radar and the position of a road.

[0013] (2) The display device may further include an output unit configured to output setting information for setting the position and shape of the lane in the coordinate space based on the lane shape lines, the reference points, and the coordinate values ​​received by the input unit. This makes it possible to set the position and shape of the lane in the coordinate space of the infrastructure radio wave radar using the output setting information.

[0014] (3) The setting screen may further include an input instruction unit configured to receive an instruction to input the reference point, and when the instruction to input the reference point is received by the input instruction unit, the reference point may be input on the image. After the user instructs the input of the reference point using the input instruction unit, the user can input the reference point directly on the image. This helps the user input the reference point.

[0015] (4) The coordinate value display unit may receive the coordinate values ​​input using the input unit and display the received coordinate values, thereby assisting in input of the coordinate values ​​of the reference point in the coordinate space of the infrastructure radio wave radar.

[0016] (5) The image display unit may display selectable candidate points on the image that are candidates for the reference point, and the candidate point selected using the input unit may be the reference point. This allows the user to easily input the reference point by selecting a candidate point. This can assist the user in inputting the reference point.

[0017] (6) The image display unit may superimpose a movement trajectory of an object detected by the infrastructure radio wave radar on the image. By checking whether the movement trajectory is within the lane in the image, a user can easily check whether the relationship between the coordinate space of the infrastructure radio wave radar and the position of the lane is correctly set.

[0018] (7) The setting screen may further include an adjustment unit configured to accept adjustment of the position of the movement trajectory relative to the image, and the display device may include an output unit configured to output correction information for correcting the position and shape of the lane in the coordinate space based on the adjustment of the position of the movement trajectory. In this way, by adjusting the position of the movement trajectory in the image, it is possible to correct the relationship between the coordinate space and the position of the lane.

[0019] (8) The position of the trajectory may be changed relative to the image based on the adjustment of the position of the trajectory. This allows the user to adjust the position of the trajectory while checking the position of the trajectory relative to the image. This helps the user adjust the position of the trajectory.

[0020] (9) The infrastructure radio wave radar may include a fixing member that fixes the camera in a state where the optical axis of the camera is aligned with the axial direction of the radio wave irradiation axis of the infrastructure radio wave radar. In this way, when the radio wave irradiation axis of the infrastructure radio wave radar is aligned with the target area, the camera can capture an image of the target area.

[0021] (10) A computer program according to this embodiment causes a computer to execute the following processes: displaying a setting screen for setting an infrastructure radio wave radar that transmits radio waves to a target area, receives reflected waves from vehicles, and detects vehicles in the target area; and accepting input of lane shape lines that indicate the shapes of lanes in the target area and reference points that indicate specific positions in the target area. The setting screen includes an image display unit configured to display the lane shape lines and the reference points input using the input unit by superimposing them on an image acquired by a camera that captures the target area, and a coordinate value display unit configured to display coordinate values ​​corresponding to the reference points. The coordinate values ​​are coordinate values ​​in a coordinate space that indicates the position of an object detected by the infrastructure radio wave radar. This allows a user to input, on the setting screen, the lane shape lines and reference points used to define the relationship between the coordinate space of the infrastructure radio wave radar and the position of a road, thereby facilitating the setting of the relationship between the coordinate space of the infrastructure radio wave radar and the position of a road in the infrastructure radio wave radar.

[0022] (11) A setting method combining an infrastructure radio wave radar that transmits radio waves to a target area and receives reflected waves from vehicles to detect vehicles in the target area, and a camera that enables optical representation of the field of view of the infrastructure radio wave radar, the setting method comprising the steps of: determining a reference point indicating a specific position included in the target area; superimposing and displaying lane shape lines indicating the shapes of lanes included in the target area and the reference point on an image acquired by the camera; and setting coordinates indicating the position of the reference point. This makes it possible to superimpose and display the lane shape lines and reference point used to define the relationship between the coordinate space of the infrastructure radio wave radar and the position of a road on the image acquired by the camera, thereby assisting in setting the relationship between the coordinate space of the infrastructure radio wave radar and the position of a road.

[0023] <Details of the embodiment of the present disclosure> DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, detailed descriptions of embodiments of the present invention will be given with reference to the accompanying drawings. At least some of the embodiments described below may be combined in any desired manner.

[0024] [1. First embodiment] [1-1. Radar] FIG. 1 is a diagram showing an example of use of a radar according to the first embodiment. The radar 100 according to this embodiment is a radio wave radar for traffic monitoring (radio wave radar for infrastructure use). The radar 100 is attached to an arm 200 (see FIG. 2) or the like provided at an intersection or on a road. The radar 100 is a millimeter-wave radar and a radio wave sensor. The radar 100 detects an object (e.g., a vehicle V) within the target area 300 on the road by emitting radio waves (millimeter waves) and receiving the reflected waves. More specifically, the radar 100 can detect the distance to the vehicle V traveling on the road, the speed of the vehicle V, and the horizontal angle of the position of the vehicle V relative to the radar's radio wave emission axis.

[0025] The radar 100 is installed so that the direction of the radio wave radiation axis (indicated by the dashed line in FIG. 1; hereinafter referred to as the "reference direction") faces the target area 300. If the reference direction does not correctly face the target area 300, the radar 100 cannot accurately detect objects within the target area 300. For this reason, the angle of the radar 100 is adjusted so that the reference direction faces the target area 300.

[0026] FIG. 2 is a perspective view showing an example of the external configuration of the radar 100 according to the first embodiment. As shown in FIG. 2, the radar 100 has a transmitting / receiving surface 101 that transmits and receives millimeter waves. The reference direction is the normal direction of the transmitting / receiving surface 101. The radar 100 incorporates at least one transmitting antenna and multiple (e.g., two) receiving antennas, not shown. The radar 100 transmits modulated millimeter waves from the transmitting antenna through the transmitting / receiving surface 101. The modulated waves hit an object and are reflected, and the receiving antenna receives the reflected waves. The radar 100 performs signal processing on the transmitted wave signal and the received wave signal using a signal processing circuit, not shown, to detect the distance to the object, the angle at which the object is located (hereinafter referred to as the "object position"), and the speed of the object.

[0027] The radar 100 is configured to have an adjustable installation angle. The radar 100 includes a radar main body 102, a depression angle adjustment unit 103, a horizontal angle adjustment unit 104, and a roll angle adjustment unit 105. The radar main body 102 is formed in a box shape, and the depression angle adjustment unit 103 is attached to a side of the radar main body 102. The radar main body 102 can be rotated about a horizontal axis by the depression angle adjustment unit 103, thereby adjusting the depression angle of the radar main body 102. The radar main body 102 is connected to the roll angle adjustment unit 105 via the depression angle adjustment unit 103, and can be rotated left and right toward the transmitting and receiving surface 101 by the roll angle adjustment unit 105, thereby adjusting the roll angle of the radar main body 102. The horizontal angle adjustment unit 104 is fixed to a pole on which the radar main body 102 is to be installed. The radar main body 102, which is connected to the horizontal angle adjustment unit 104 via the depression angle adjustment unit 103 and the roll angle adjustment unit 105, can be rotated around a vertical axis by the horizontal angle adjustment unit 104, thereby adjusting the horizontal angle of the radar main body 102.

[0028] The radar 100 detects the vehicle V for each lane. The radar 100 identifies the coordinates of the detected vehicle V in a set coordinate space. Areas for each lane are set in the coordinate space, and the lane on which the vehicle V is traveling is identified depending on which area the coordinates of the vehicle V are in. The radar main body 102 has a built-in storage unit 106, which is, for example, a nonvolatile memory, and setting information for the lanes in the coordinate space is stored in the storage unit 106.

[0029] As shown in FIG. 2, a camera 107 is attached to the radar main body 102. A fixing member 107a for fixing the camera 107 is provided on the upper surface of the radar main body 107. By attaching the camera 107 to the fixing member 107a, the camera 107 is fixed to the radar main body 102. The fixing member 107a can make the optical axis of the camera 107 parallel to the radio wave irradiation axis of the radar 100. In other words, by fixing the camera 107 by the fixing member 107a, the optical axis of the camera 107 faces the reference direction. This allows the camera 107 to capture an image of the target area.

[0030] The radar main body 102 includes a communication unit (not shown). As shown in FIG. 3, the radar 100 is connected to a radar setting device 400 via the communication unit by wire or wirelessly. The radar setting device 400 is used to set lane areas in the coordinate space of the radar 100. An image obtained by the camera 107 (hereinafter referred to as a "camera image") is transmitted to the radar setting device 400. Information on the vehicle V detected by the radar 100 (such as the position of the vehicle V, the lane in which the vehicle V is traveling, and the number of vehicles V detected for each lane) is transmitted to the radar setting device 400. The radar setting device 400 can transmit setting information on the lane areas in the coordinate space of the radar 100. The transmitted setting information is stored in the storage unit 106, and the setting information is updated.

[0031] [1-2. Radar setting device configuration] 3 is a block diagram showing an example of the configuration of a radar setting device according to the first embodiment. The radar setting device 400 is an example of a display device. The radar setting device 400 is configured by a portable information terminal such as a smartphone, a tablet, or a portable computer. The radar setting device 400 includes a processor 401, a nonvolatile memory 402, a volatile memory 403, a graphics controller 404, a display unit 405, an input unit 406, and a communication interface (communication I / F) 407.

[0032] The volatile memory 403 is, for example, a semiconductor memory such as an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory). The non-volatile memory 402 is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), etc. The non-volatile memory 402 stores a setting program 409, which is a computer program, and data used to execute the setting program 409. The radar setting device 400 is configured with a computer, and each function of the radar setting device 400 is realized by the processor 401 executing the setting program 409, which is a computer program stored in a storage device of the computer. The setting program 409 can be stored in a recording medium such as a flash memory, a ROM, or a CD-ROM. The processor 401 executes the setting 409 and displays a setting screen, which will be described later, on the display unit 405.

[0033] The processor 401 is, for example, a CPU (Central Processing Unit). However, the processor 401 is not limited to a CPU. The processor 401 may also be a GPU (Graphics Processing Unit). The processor 401 may also be, for example, an ASIC (Application Specific Integrated Circuit) or a programmable logic device such as a gate array or FPGA (Field Programmable Gate Array). In this case, the ASIC or programmable logic device is configured to be able to execute the same processing as the setting program 409.

[0034] The graphics controller 404 is connected to the display unit 405 and controls the display on the display unit 405. The graphics controller 404 includes, for example, a GPU and a VRAM (Video RAM), stores data to be displayed on the display unit 405 in the VRAM, periodically reads one frame of video data from the VRAM, and generates a video signal. The generated video signal is output to the display unit 405, and the video is displayed on the display unit 405. The function of the graphics controller 404 may be included in the processor 401. A portion of the area of ​​the volatile memory 403 may be used as the VRAM.

[0035] The display unit 405 includes, for example, a liquid crystal panel or an OEL (organic electroluminescence) panel. The display unit 405 can display text or graphic information. The input unit 406 includes, for example, a capacitive or pressure-sensitive touchpad overlaid on the display unit 405. The input unit 406 may also be a pointing device such as a keyboard and a mouse. The input unit 406 is used to input information to the radar setting device 400.

[0036] The communication I / F 407 can communicate with external devices via wire or wirelessly. The communication I / F 407 can receive camera images output from the camera 107. The communication I / F 407 can receive information about the vehicle V detected by the radar 100. The communication I / F 407 can transmit setting information about lane areas in the coordinate space of the radar 100 to the radar 100.

[0037] [1-3. Functions of the radar setting device] 4 is a functional block diagram showing an example of functions of the radar setting device 400 according to the first embodiment. When the processor 401 executes the setting program 409, the radar setting device 400 exhibits the functions of a setting screen display unit 411, an image input unit 412, a data input unit 413, a lane shape input unit 414, a reference point input unit 415, a lane editing unit 416, a coordinate adjustment unit 417, a setting information transmission unit 418, a trajectory data receiving unit 419, a first count result input unit 420, a second count result input unit 421, a radar detection result receiving unit 422, a comparison unit 423, and a record storage unit 424.

[0038] The setting screen display unit 411 is realized by the display unit 405. The setting screen display unit 411 can display a setting screen. The setting screen is a screen for setting lane areas in the coordinate space of the radar 100 (hereinafter referred to as "lane area setting").

[0039] 5A is a diagram showing an example of a setting screen according to the first embodiment. The setting screen 500 is a screen for setting the radar 100. As shown in FIG. 5A, the setting screen 500 includes a user operation section 510, an image display section 520, a traffic count result display section 530, and a bird's-eye view display section 540.

[0040] The user operation unit 510 is an area that accepts operations from the user. By operating the user operation unit 510, the user can input various information to the radar setting device 400. The user operation unit 510 includes an image reading instruction unit 511, a basic data input unit 512, a lane drawing instruction unit 513, a reference point input instruction unit 514, and a lane adjustment unit 515.

[0041] The image read instruction section 511 includes an image read button 511a. The image read button 511a is a button for instructing the radar setting device 400 to read a camera image output from the camera 107. The image display section 520 is an area for displaying the read camera image.

[0042] Referring again to FIG. 4, when the user selects the image read button 511a, the image input unit 412 accepts input of the camera image output from the radar 100. The setting screen display unit 411 displays the input camera image on the image display unit 520. The camera image may be a still image or a video. When the camera image is used to count the number of vehicles, as will be described later, it is preferable that the camera image is a video. To count the number of vehicles, multiple still images may be displayed in chronological order of their capture. When the camera image is a video or multiple still images, the images are continuously read out. As a result, the real-time camera image is displayed on the image display unit 520.

[0043] Referring again to FIG. 5A , the basic data input unit 512 is used to input basic data used for setting lane areas, such as the number of lanes in the target area 300, lane width, installation height of the radar 100, offset amount, and vehicle detection method (hereinafter collectively referred to as “basic data”). The basic data is used for setting the coordinate system of the radar 100, initial setting of lane areas in the coordinate space, etc. The basic data input unit 512 includes a lane number input unit 512a, a lane width input unit 512b, an installation height input unit 512c, an offset amount input unit 512d, and a detection method input unit 512e. The lane number input unit 512a is an input box used to input the number of lanes in the target area 300. The lane width input unit 512b is an input box used to input the lane width. The installation height input unit 512c is an input box used to input the installation height of the radar 100 from the ground surface. The offset amount input field 512d is an input box used to input an offset amount from the origin of the installation location of the radar 100 in the road width direction. The origin is set, for example, to the left edge of the road as seen from the installation location of the radar 100. The detection method input field 512e is a selection box. For example, when the detection method input field 512e is selected, a drop-down menu is displayed. The drop-down menu includes two items: head measurement (a method for detecting a vehicle from the front direction) and tail measurement (a method for detecting a vehicle from the rear direction). The detection method input field 512e is used to select one of the head measurement and tail measurement.

[0044] Fig. 5B is a diagram showing an example of a setting screen on which basic data has been input. In Fig. 5B, the number of lanes "3" is input in lane number input section 512a, the lane width "3.5" is input in lane width input section 512b, the installation height "7.5" is input in installation height input section 512c, the offset amount "15.0" is input in offset amount input section 512d, and "Front" representing headway measurement is specified in detection method input section 512e.

[0045] 4 again, the data input unit 413 accepts basic data input by the user to the basic data input unit 512. The setting information transmission unit 418 transmits the basic data accepted by the data input unit 413 to the radar 100.

[0046] The radar 100 sets a coordinate system based on the received basic data and initially sets lane areas in the coordinate space. FIG. 6A is a diagram illustrating an example of the initial setting of lane areas in the radar's coordinate space. The radar 100 sets the origin of the coordinates and the coordinate position of the radar 100 based on, for example, an offset amount and an installation height. For example, a coordinate system having an X axis extending in the road length direction, a Y axis extending in the road width direction, and a Z axis extending in the vertical direction is set. In FIG. 6A, the origin O and the coordinate position of the radar 100 are set based on an offset amount of "15.0" and an installation height of "7.5". Furthermore, the radar 100 sets lane areas based on the number of lanes and lane width. In FIG. 6A, lane areas R1, R2, and R3 in the coordinate space are set based on the number of lanes "3" and the lane width "3.5". For example, in the initial setting, the lanes are set to be straight.

[0047] Referring again to FIG. 5A, the lane drawing instruction unit 513 includes a lane drawing instruction button 513a and a lane editing button 513b. The lane drawing instruction button 513a is a button for instructing the start of input of lines indicating the shapes of lanes in the target area 300 (hereinafter referred to as "lane shape lines"). When the lane drawing instruction button 513a is selected, it becomes possible to draw lines (straight or curved) on the image display unit 520. FIG. 5C is a diagram showing an example of a setting screen on which lane shape lines are drawn. As shown in FIG. 5C, the user can draw lane shape lines by superimposing them on the image of the road displayed on the image display unit 520. For example, if the input unit 406 is a touchpad, the user can draw lane shape lines 522 by tracing with a finger or a stylus markings on the road, such as a center line or lane boundary lines, on the camera image 521 displayed on the image display unit 520.

[0048] The lane edit button 513b is a button for instructing the start of editing of the set lane area. When the lane edit button 513b is selected, the setting screen transitions to an edit mode, and it becomes possible to edit the lane area set in the radar 100. Editing of the lane area will be described later.

[0049] Referring again to Figure 4, the lane shape input unit 414 receives lane shape lines 522 drawn on the camera image 521 when the user selects the lane drawing instruction button 513a, and receives the edited lane shape lines 522 when the user selects the lane edit button 513b.

[0050] Referring again to FIG. 5A, the reference point input instruction unit 514 includes a reference point input button 514a and a coordinate value input unit 514b. The reference point input button 514a is a button for inputting a reference point into the camera image 521 displayed on the image display unit 520. The reference point is a point indicating a specific position in the target area 300. The coordinate value input unit 514b is an example of a coordinate value display unit that displays coordinate values ​​corresponding to the specific position indicated by the reference point. The coordinate value input unit 514b is an input box used to input the coordinate values ​​of the reference point. The coordinate value input unit 514b accepts coordinate values ​​input using the input unit 406 and displays the accepted coordinate values. FIG. 5D is a diagram showing an example of a setting screen in which a reference point has been input. Since the reference point is a position on a road, the Z value is "0." The user can input the X value and Y value of the reference point into the coordinate value input unit 514b. In the example of FIG. 5D, an X value of "3" and a Y value of "75" have been input. The user can select the reference point input button 514a with coordinate values ​​input in the coordinate value input section 514b. The reference point input button 514a is an example of an input instruction section configured to accept an instruction to input a reference point. When the reference point input button 514a is selected, it becomes possible to input reference points 523a and 523b in the image display section 520.

[0051] The reference point and coordinate values ​​are used to associate coordinates with the lane shape indicated by the drawn lane shape lines. In other words, if the lane is curved, the reference point and coordinate values ​​are used to identify the position at which the lane is curved. For this reason, it is preferable to provide two or more reference points. When inputting two reference points 523a and 523b, the user inputs the first coordinate value (3, 75) into the coordinate value input section 514b, selects the reference point input button 514a, and inputs the reference point 523a on the camera image 521. Furthermore, the user inputs the second coordinate value (-0.5, 45) into the coordinate value input section 514b, and selects the reference point input button 514a, and inputs the reference point 523b on the camera image 521.

[0052] Referring again to FIG. 4, the user inputs coordinate values ​​into the coordinate value input unit 514b, selects the reference point input button 514a, and inputs reference points 523a and 523b on the camera image 521. The reference point input unit 415 accepts the reference points 523a and 523b and the coordinate values ​​input by the user. The setting screen display unit 411 displays the lane shape lines 522 accepted by the lane shape input unit 414 and the reference points 523a and 523b accepted by the reference point input unit 415. The setting information transmission unit 418 transmits lane setting data indicating the lane shape lines 522 and the reference points 523a and 523b to the radar 100. The setting information transmission unit 418 is realized by the communication I / F 407. The communication I / F 407 is an example of an output unit that outputs setting information.

[0053] The radar 100 sets lane regions R1, R2, and R3 in the coordinate space based on the received lane setting data. Fig. 6B is a diagram illustrating an example of setting lane regions in the radar coordinate space. The radar 100 identifies the shape of the lane based on the lane shape line 522 and reference points 523a and 523b, and changes the lane regions R1, R2, and R3 in accordance with the identified shape. In the example of Fig. 6B, the lane curvature and turning positions are identified by the lane shape line 522 and reference points 523a and 523b, and the lane regions R1, R2, and R3 are set in a curved shape based on the curvature and turning positions.

[0054] Referring again to Figure 4, the lane editing unit 416 edits the lane areas R1, R2, and R3 set in the radar 100. The lane editing unit 416 receives lane area data including coordinate values ​​of the lane areas R1, R2, and R3 from the radar 100. The lane editing unit 416 edits the lane areas R1, R2, and R3 in accordance with editing instructions for the lane areas R1, R2, and R3 given by the user.

[0055] Referring again to FIG. 5A , when the lane edit button 513b is selected, the radar setting device 400 transmits a request for lane area data to the radar 100. The radar 100, having received the request, transmits the lane area data to the radar setting device 400. When the radar setting device 400 receives the lane area data, the setting screen 500 transitions to edit mode, making it possible to edit the lane areas set by the radar 100. FIG. 5E is a diagram showing an example of the setting screen in the lane area edit mode. As shown in FIG. 5E , in the edit mode, lane shape lines 523 indicating the dividing lines of each lane are displayed superimposed on the camera image 521, and nodes 523c are displayed at multiple locations on the lane shape lines 523. The nodes 523c are selectable and movable points. For example, the user can select the node 523c to be moved by dragging and dropping it, and move it to the desired position. When the user releases his / her finger or stylus from node 523c, the selection and movement of node 523c ends, and lane shape line 523 is changed according to the changed position of node 523c. This allows the user to edit lane shape line 523 that has deviated from the lane marking so that it overlaps with the lane marking.

[0056] Referring again to Figure 4, the lane editing unit 416 generates edited data including coordinate values ​​that define the edited lane areas R1, R2, and R3 based on the edited lane shape line 523, and transmits the edited data to the radar 100. The radar 100 changes the settings of the lane areas R1, R2, and R3 in accordance with the received edited data.

[0057] When the lane regions R1, R2, and R3 in the coordinate space of the radar 100 are set as described above, the radar 100 generates trajectory data including time-series position data of one or more vehicles V, and transmits the trajectory data to the radar setting device 400. The trajectory data receiving unit 419 receives the trajectory data transmitted from the radar 100.

[0058] The setting screen display unit 411 displays the travel trajectory of the vehicle V detected by the radar 100 superimposed on the camera image 521 based on the received trajectory data. FIG. 5F is a diagram showing an example of a setting screen on which the travel trajectory of the vehicle V is displayed. As shown in FIG. 5F, for example, the travel trajectory 524 of the vehicle V may be represented by a plurality of figures indicating the vehicle's position over time. The user can determine whether the lane area in the coordinate space of the radar 100 is set correctly by checking whether the travel trajectory 524 deviates from the lane. In the example of FIG. 5F, the travel trajectory 524 deviates from the lane. Therefore, the user determines that the lane area in the coordinate space of the radar 100 is set incorrectly.

[0059] The lane adjustment unit 515 is used to adjust the lane area set in the radar 100. The lane adjustment unit 515 is an example of an adjustment unit configured to accept adjustment of the position of the traveling trajectory 524 relative to the camera image 521. The lane adjustment unit 515 includes a zoom-in button 515a, a zoom-out button 515b, an up button 515c, a down button 515d, a right button 515e, a left button 515f, a clockwise rotation button 515g, a counterclockwise rotation button 515h, a forward rotation button 515i, and a backward rotation button 515j.

[0060] The enlarge button 515a is a button for enlarging the camera image 521 and the travel path 524. The reduce button 515b is a button for reducing the camera image 521 and the travel path 524. The user selects the enlarge button 515a when enlarging the camera image 521 and the travel path 524, and selects the reduce button 515b when reducing the camera image 521 and the travel path 524.

[0061] The up movement button 515c is a button for moving the traveling trajectory 524 upward relative to the camera image 521, and the down movement button 515d is a button for moving the traveling trajectory 524 downward relative to the camera image 521. The right movement button 515e is a button for moving the traveling trajectory 524 right relative to the camera image 521, and the left movement button 515f is a button for moving the traveling trajectory 524 left relative to the camera image 521. When adjusting the position of the traveling trajectory, the user selects the up movement button 515c, the down movement button 515d, the right movement button 515e, or the left movement button 515f.

[0062] The clockwise rotation button 515g is a button for rotating the traveling trajectory 524 clockwise relative to the camera image 521, and the counterclockwise rotation button 515h is a button for rotating the traveling trajectory 524 counterclockwise relative to the camera image 521. The forward rotation button 515i is a button for rotating the traveling trajectory 524 forward in the depth direction of the screen, and the backward rotation button 515j is a button for rotating the traveling trajectory 524 backward in the depth direction of the screen. To adjust the angle of the traveling trajectory, the user selects the clockwise rotation button 515g, the counterclockwise rotation button 515h, the forward rotation button 515i, or the backward rotation button 515j. The user adjusts the position and angle of the traveling trajectory 524 so that the traveling trajectory 524 fits correctly within the lane.

[0063] 5G is a diagram showing an example of the setting screen after the position and angle of the traveling trajectory 524 have been adjusted. When the zoom-in button 515a, the zoom-out button 515b, the up button 515c, the down button 515d, the right button 515e, the left button 515f, the clockwise rotation button 515g, the counterclockwise rotation button 515h, the forward rotation button 515i, or the backward rotation button 515j is operated to instruct adjustment of the position and angle of the traveling trajectory 524, the position and angle of the traveling trajectory 524 displayed on the setting screen 400 change in response to the instruction, as shown in FIG. 5G. This allows the user to easily determine whether the traveling trajectory 524 is correctly within the lane by checking the traveling trajectory 524 superimposed on the image 521.

[0064] Referring again to FIG. 4 , the coordinate adjustment unit 417 accepts an adjustment direction and an adjustment amount of the coordinates of the traveling trajectory 524 input from the zoom-in button 515a, the zoom-out button 515b, the up button 515c, the down button 515d, the right button 515e, the left button 515f, the clockwise button 515g, the counterclockwise button 515h, the forward rotation button 515i, or the backward rotation button 515j. The setting screen display unit 411 changes the position and angle of the traveling trajectory 524 on the setting screen 500 in accordance with the adjustment direction and adjustment amount of the coordinates of the traveling trajectory 524 accepted by the coordinate adjustment unit 417. Correction data is generated based on the adjustment direction and adjustment amount of the coordinates of the traveling trajectory 524 accepted by the coordinate adjustment unit 417. The correction data is information (correction information) for correcting the position and shape of the lane in the coordinate space of the radar 100 based on the adjustment of the position of the traveling trajectory 524. The setting information transmission unit 418 transmits the generated correction data to the radar 100. The radar 100 adjusts the lane regions R1, R2, and R3 in the coordinate space based on the received correction data. The setting information transmission unit 418 is realized by the communication I / F 407 as described above. The communication I / F 407 is an example of an output unit that outputs the correction data.

[0065] The radar setting device 400 has a function for checking the detection accuracy of the radar 100 after lane area setting for the radar 100 as described above. This function is provided by a first count result input unit 420, a second count result input unit 421, a radar detection result receiving unit 422, a collating unit 423, and a setting screen display unit 411.

[0066] After completing the lane area setting, the radar 100 transmits traffic count data indicating the number of vehicles detected for each lane. The radar 100 counts the number of vehicles for each lane for each fixed detection period and transmits the traffic count data. The first count result input unit 420 receives the traffic count data transmitted from the radar 100. The setting screen display unit 411 displays the number of vehicles detected for each lane based on the received traffic count data.

[0067] The second count result input unit 421 receives the number of vehicles for each lane during the detection period input by the user. The setting screen display unit 411 displays the number of vehicles for each lane input by the user.

[0068] Referring again to FIG. 5A, the setting screen 500 is also a confirmation screen for confirming the detection accuracy of the radar 100. The traffic count result display unit 530 includes a first count result display unit 531 and a second count result display unit 532. The first count result display unit 531 is an area for displaying the number of vehicles for each lane counted by the radar 100. The first count result display unit 531 is an example of a first result display unit. The first count result display unit 531 includes a count value display unit 531a for displaying the number of vehicles in the first lane, a count value display unit 531b for displaying the number of vehicles in the second lane, a count value display unit 531c for displaying the number of vehicles in the third lane, and a count value display unit 531d for displaying the number of vehicles in the fourth lane.

[0069] The second count result display unit 532 includes count buttons 532a and 533a for counting the number of vehicles traveling in the first lane and a count value display unit 534a for displaying the count value for the first lane, count buttons 532b and 533b for counting the number of vehicles traveling in the second lane and a count value display unit 534b for displaying the count value for the second lane, count buttons 532c and 533c for counting the number of vehicles traveling in the third lane and a count value display unit 534c for displaying the count value for the third lane, and count buttons 532d and 533d for counting the number of vehicles traveling in the fourth lane and a count value display unit 534d for displaying the count value for the fourth lane. The second count result display unit 532 is an example of a second result display unit. The count value display unit 534a displays a numerical value corresponding to the number of times the count buttons 532a and 533a have been selected. The count value display unit 534b displays a numerical value corresponding to the number of times the count buttons 532b and 533b have been selected. Count value display section 534c displays a numerical value corresponding to the number of times count buttons 532c and 533c have been selected. Count value display section 534d displays a numerical value corresponding to the number of times count buttons 532d and 533d have been selected. Count buttons 532a, 532b, 532c, and 532d are buttons for incrementing the count value, and count buttons 533a, 533b, 533c, and 533d are buttons for decrementing the count value. Second count result display section 532 is an example of a second result display section, and the count value of the number of vehicles per lane is an example of reference information.

[0070] The traffic count result display unit 530 further includes a detection period display unit 535. The detection period display unit 535 includes a reception time display unit 535a for displaying the time when traffic count data was last received from the radar 100, an expected reception time display unit 535b for displaying the time when traffic count data is next scheduled to be received from the radar 100, and a reception interval display unit 535c for displaying the reception interval of the traffic count data.

[0071] FIG. 5H is a diagram showing an example of a setting screen displaying the number of vehicles per lane based on traffic count data and the number of vehicles per lane input by the user. In the example shown in FIG. 5H, the number of vehicles in the first, second, and third lanes detected by the radar 100 is "14," "25," and "7," respectively, and the number of vehicles in the first, second, and third lanes counted by the user is "13," "25," and "7," respectively. The count value display unit 531a displays "14," the count value display unit 531b displays "25," and the count value display unit 531c displays "7." The count value display unit 534a displays "13," the count value display unit 534b displays "25," and the count value display unit 534c displays "7." The count value display unit of the radar 100 and the user's count value display unit for the same lane are arranged vertically side by side. That is, the count value display units 531a and 534a for the first lane are arranged vertically, the count value display units 531b and 534b for the second lane are arranged vertically, the count value display units 531c and 534c for the third lane are arranged vertically, and the count value display units 531d and 534d for the fourth lane are arranged vertically. This makes it easy to compare the count value obtained by the radar with the count value obtained by the user.

[0072] The reception time display section 535a displays the time of the previous traffic count data reception, "2021 / 4 / 1 15:00:00." The scheduled reception time display section 535b displays the next traffic count and scheduled data reception time, "2021 / 4 / 1 15:02:30." The reception interval display section 535c displays the traffic count data reception interval, "2.5 min." In this embodiment, the reception time and reception interval of the traffic count data constitute the detection period. For example, if the count value of the number of vehicles per lane by the radar 100 and the count value of the number of vehicles per lane visually by the user are sufficiently similar, the detection period (the reception time and reception interval of the previous traffic count data) can be displayed together with the count value of the number of vehicles per lane by the radar 100 and the count value of the number of vehicles per lane visually by the user, allowing the user to confirm that the detection accuracy of the radar 100 is ensured during the detection period. For example, if the screen of FIG. 5H is recorded, the user can confirm afterward that the detection accuracy of the radar 100 was ensured during the detection period.

[0073] For example, unused count value display units may be indicated as disabled. In the example of FIG. 5H, since the target area 300 has three lanes, the count value display units 531d and 534d for the fourth lane are not used. Therefore, the count value display units 531d and 534d are displayed in gray, which indicates that they are disabled. Furthermore, unused count buttons may also be indicated as disabled. In the example of FIG. 5H, unused count buttons 532d and 533d are displayed in gray.

[0074] Furthermore, traffic count result display section 530 includes erase button 536 for erasing the count values ​​displayed in count value display sections 531a, 531b, 531c, 531d, 534a, 534b, 534c, and 534d. When erasing a count value, the user can erase the count value by selecting erase button 536.

[0075] Referring again to Fig. 4, the radar 100 transmits detection result data indicating the detection result. The detection result includes position information of the detected vehicle V. The radar detection result receiving unit 422 receives the detection result data transmitted from the radar 100. The setting screen display unit 411 displays the position of the vehicle V included in the detection result data.

[0076] 5H again. The bird's-eye view display unit 540 displays the position of the vehicle V detected by the radar 100 superimposed on a bird's-eye view of the target area 300. As shown in FIG. 5H, the bird's-eye view display unit 540 displays a bird's-eye view 541 of the lanes included in the target area 300 and a graphic 542 indicating the position of the vehicle V detected in each lane. The radar 100 transmits detection result data at a predetermined cycle, and the position of the graphic 542 on the bird's-eye view display unit 540 is updated according to the detection result data received by the radar setting device 400. As a result, the real-time position of the vehicle V is displayed on the bird's-eye view display unit 540. The user can confirm that the detection accuracy of the radar 100 is accurate by comparing the position of the vehicle V on the bird's-eye view display unit 540 with, for example, the camera image 521 on the image display unit 520.

[0077] Referring again to FIG. 4, the collation unit 423 collates the number of vehicles detected by the radar 100 during the detection period with the number of vehicles traveling in the target area 300 counted by the user during the detection period. Specifically, the collation unit 423 collates the count value of the number of vehicles for each lane indicated by the traffic count data with the count value of the number of vehicles for each lane input by the user. The collation unit 423 calculates the accuracy of the count value of the number of vehicles counted by the radar 100, using the count value of the number of vehicles counted by the user as the true value. In the example of FIG. 5H, the count value of the number of vehicles in the first lane counted by the radar 100 is "14," the count value of the number of vehicles in the first lane counted by the user is "13," and the accuracy of the count value of the number of vehicles in the first lane counted by the radar 100 is 92.9%. The count value of the number of vehicles in the second lane by the radar 100 is "25," the count value of the number of vehicles in the second lane by the user is "25," and the accuracy of the count value of the number of vehicles in the second lane by the radar 100 is 100%. The count value of the number of vehicles in the third lane by the radar 100 is "7," the count value of the number of vehicles in the third lane by the user is "7," and the accuracy of the count value of the number of vehicles in the third lane by the radar 100 is 100%. If the target area 300 includes multiple lanes, the matching unit 423 calculates, for example, the average value of the accuracy for each lane as the accuracy of the detection result of the radar 100. In the example of FIG. 5H, the accuracy is 97.6%.

[0078] The collation unit 423 can compare the calculated accuracy with a predetermined reference value to determine whether the detection accuracy is pass or fail. In this embodiment, the reference value is 95%. In the example of FIG. 5H, the collation unit 423 determines that the detection accuracy is pass. The setting screen display unit 411 displays at least one of the accuracy calculated by the collation unit 423 and the pass / fail determination result of the detection accuracy.

[0079] 5H again. When the verification unit 423 verifies the number of vehicles detected by the radar 100 during the detection period with the number of vehicles traveling in the target area 300 counted by the user during the detection period, the verification result is displayed on the verification result display unit 550. The verification result display unit 550 is an area for displaying the verification result by the verification unit 423. The verification result display unit 550 includes, for example, an accuracy display unit 550a for displaying the accuracy of the detection result of the radar 100 and a determination result display unit 550b for displaying a pass / fail determination result of the detection accuracy of the radar 100. If the determination result is pass, the determination result display unit 550b displays, for example, the word "pass." If the determination result is fail, the determination result display unit 550b displays, for example, the word "fail." By checking the verification result display unit 550, the user can understand the detection accuracy of the radar 100 and whether the detection accuracy is above a predetermined standard.

[0080] Referring again to FIG. 4, the record storage unit 424 records the process of checking the detection accuracy of the radar 100 (hereinafter referred to as the "detection accuracy checking process") and stores the recorded detection accuracy checking process. The detection accuracy checking process includes the first count result input unit 420 receiving traffic count data from the radar 100, the second count result input unit 421 accepting input from the user of the number of vehicles per lane, the radar detection result receiving unit 422 receiving detection result data from the radar 100, and the comparison unit 423 comparing the number of vehicles per lane. The record of the detection accuracy checking process is, for example, a moving image of the setting screen 500 during the period from the start of the detection period to the display of the comparison result of the number of vehicles (hereinafter referred to as the "recording period"). The moving image of the setting screen 500 includes a moving image of the target area 300 on the screen display unit 521. Note that instead of a moving image, the detection accuracy checking process may also be a plurality of still images of the setting screen 500 at multiple points in time during the recording period. In the following description, the detection accuracy confirmation process is recorded as a moving image of the setting screen 500.

[0081] Referring again to FIG. 5A, the matching result display unit 550 includes a recording start button 551. The recording start button 551 is a button for instructing the start of recording of the detection accuracy confirmation process. When the user selects the recording start button 551, recording of a moving image of the setting screen 500 starts, and an instruction to start a detection period is transmitted to the radar 100. Upon receiving the instruction to start a detection period, the radar 100 starts the detection period. Furthermore, as described above, the radar 100 detects the number of vehicles for each lane and transmits traffic count data. When the user selects the recording start button 551, the user inputs the number of vehicles for each lane into the radar setting device 400 as described above. The input count values ​​are displayed in the count value display units 531a, 531b, 531c, 531d, 534a, 534b, 534c, and 534d. The radar 100 detects the position of the vehicle V in the target area 300 and transmits the detection result data. The position of vehicle V detected by radar 100 is displayed in a bird's-eye view display unit 540, superimposed on the bird's-eye view of the target area 300. When the detection period ends, the matching unit 423 matches the number of vehicles detected by radar 100 during the detection period with the number of vehicles traveling in the target area 300 counted by the user during the detection period. The matching unit 423 calculates the accuracy of the count value of the number of vehicles by radar 100, and the calculated accuracy and the pass / fail judgment result of the detection accuracy of radar 100 are displayed on the matching result display unit 550. This stops recording of the video on the setting screen 500, and the recording period ends.

[0082] Referring again to FIG. 4, when the recording of the detection accuracy confirmation process is stopped, the record storage unit 424 stores the recorded detection accuracy confirmation process. For example, the record storage unit 424 stores the record of the detection accuracy confirmation process in accordance with an instruction from the user. When the recording of the detection accuracy confirmation process is stopped (i.e., when the recording period ends), a save instruction unit may be displayed, which is a window for the user to instruct saving the record of the detection accuracy confirmation process. FIG. 7 is a diagram showing an example of the save instruction unit. The save instruction unit 560 includes a save instruction button 561 and a cancel button 562. The save instruction button 561 is a button for instructing saving the record of the detection accuracy confirmation process, and the cancel button 562 is a button for discarding the record of the detection accuracy confirmation process. When the save instruction button 561 is selected by the user, the record (video data) of the detection accuracy confirmation process is stored in, for example, the non-volatile memory 402. The storage destination may be an internal memory of the radar 100 or an external server connected to the radar setting device 400 via a network. When the user selects the cancel button 562, the record of the detection accuracy confirmation process is discarded. When either the save instruction button 561 or the cancel button 562 is selected, the save instruction section 560 is closed.

[0083] The above-described save instruction unit 560 is an example of a configuration for a user to instruct saving of the record of the detection accuracy confirmation process, and is not limited to this. For example, the matching result display unit 550 on the setting screen 500 may be provided with a button for instructing saving of the record of the detection accuracy confirmation process, and the user may instruct saving of the record of the detection accuracy confirmation process by selecting the button.

[0084] The saved record of the detection accuracy confirmation process allows the user to check the detection accuracy of the radar 100 during the detection period and the pass / fail judgment result of the detection accuracy afterward. Furthermore, recording the entire detection accuracy confirmation process can serve as evidence that the detection accuracy and pass / fail judgment result of the radar 100 have been obtained through an appropriate process, and can prevent falsification and tampering of the detection accuracy and pass / fail judgment result of the radar 100.

[0085] [1-4. Operation of the radar setting device] 8 is a flowchart showing an example of the procedure of the lane area setting process of the radar setting device 400 according to the first embodiment. When the processor 401 starts the setting program 409, the radar setting device 400 executes the lane area setting process as described below.

[0086] The processor 401 causes the display unit 405 to display the setting screen 500 for setting lane areas for the radar 100 (step S101).

[0087] The user selects the image read button 511a (see FIG. 5A) to instruct the radar setting device 400 to read the camera image 521. The processor 401 receives the instruction to read the camera image 521 (step S102). Upon receiving the read instruction, the processor 401 reads the camera image 521 and displays the read camera image 521 on the image display unit 520 (step S103).

[0088] The user inputs basic data to the basic data input unit 512 (see FIG. 5A). The processor 401 accepts the input basic data (step S104). The processor 401 transmits the input basic data to the radar 100 (step S105). The radar 100 uses the basic data to initially set the coordinate system and lane areas in the coordinate space.

[0089] The user selects lane drawing instruction button 513a and draws lane shape lines 522 on camera image 521 (see FIG. 5A). Processor 401 accepts input of lane shape lines 522 (step S106).

[0090] The user inputs coordinate values ​​into coordinate value input section 514b, selects reference point input button 514a, and inputs reference points 523a and 523b on camera image 521 (see FIG. 5A). Processor 401 accepts the input of reference points 523a and 523b and the coordinate values ​​(step S107).

[0091] The processor 401 generates lane setting data from the received data of the lane shape line 522 and the data of the reference points 523a, 523b and coordinate values, and transmits the lane setting data to the radar 100 (step S108). The radar 100 identifies the shape of the lane based on the received lane setting data, and changes the lane area according to the identified shape.

[0092] The user selects the lane edit button 513b (see FIG. 5A). When the processor 401 accepts the selection of the lane edit button 513b, it requests lane area data from the radar 100. In response to the request, the radar 100 transmits the lane area data including the coordinate values ​​of the lane areas R1, R2, and R3. Upon receiving the lane area data, the processor 401 displays lane shape lines 523 indicating the dividing lines of each lane based on the lane areas R1, R2, and R3, superimposed on the camera image 521. The user edits the lane shape lines 523 by moving the nodes 523c of the lane shape lines 523 (step S109). The processor 401 generates edit data that defines the edited lane areas R1, R2, and R3 according to the edited lane shape lines 523, and transmits the edit data to the radar 100 (step 110). The radar 100 changes the settings of the lane areas R1, R2, and R3 in accordance with the edited data.

[0093] The radar 100 generates trajectory data from the detected time-series position data of the vehicle V and transmits the trajectory data to the radar setting device 400. The radar setting device 400 receives the trajectory data (step S111). The processor 401 displays the traveling trajectory 524 of the vehicle V (see FIG. 5F) by superimposing it on the camera image 521 based on the received trajectory data (step S112).

[0094] The user adjusts the position or angle of the traveling trajectory 524 so that it fits within the lane in the camera image 521, using at least one of the zoom-in button 515a, zoom-out button 515b, up button 515c, down button 515d, right button 515e, left button 515f, clockwise button 515g, counterclockwise button 515h, forward rotation button 515i, and backward rotation button 515j in the lane adjustment unit 515. The processor 401 accepts the adjustment direction and amount of the position or angle of the traveling trajectory 524 (step S113).

[0095] The processor 401 generates correction data from the adjustment direction and adjustment amount of the coordinates of the accepted travel trajectory 524, and transmits the correction data to the radar 100 (step S114). The radar 100 adjusts the position and angle of the lane area in the coordinate space based on the received correction data. This completes the lane area setting process.

[0096] [2. Second Embodiment] In this embodiment, the user can select a method for inputting a reference point. See FIG. 5A. In this embodiment, the reference point input button 514a is a button for selecting a method for inputting a reference point. When the reference point input button 514a is selected by the user, a selection section, which is a window for selecting a reference point, is displayed. FIG. 9 is a diagram showing an example of the selection section. The selection section 600 includes a manual input button 610, an automatic input button 620, and a radar input button 630.

[0097] The manual input button 610 is a button for selecting manual input by the user as a method for inputting the reference points. When the manual input button 610 is selected by the user, the user can input the reference points 523a and 523b on the image display unit 520, as in the first embodiment.

[0098] Automatic input button 620 is a button for selecting automatic input of a reference point by image recognition processing as a method for inputting a reference point. When the user selects automatic input button 620, processor 401 executes image recognition processing on camera image 521 to recognize road components, such as dividing lines, road markings (pedestrian crossings, stop lines, regulatory signs, etc.), road signs, etc. Processor 401 sets a feature point of the recognized component (for example, an end point of a white line) as a reference point. This allows the reference point to be automatically input.

[0099] Feature points recognized from the camera image 521 may be set as candidate points for the reference point. It is preferable to use a plurality of candidate points. The image display unit 520 displays the candidate points superimposed on the camera image 521. The candidate points can be selected by the input unit 406, and the selected candidate point is set as the reference point. The user inputs the reference point by selecting a candidate point.

[0100] The radar input button 630 is a button for selecting input of a reference point detected by the radar 100 as a method for inputting a reference point. When the user selects the radar input button 630, the radar 100 detects objects installed near the road, such as road signs, markers installed on the roadside or on the road, etc. The radar 100 transmits reference point data including position information of the detected objects to the radar setting device 400. The radar setting device 400 receives the reference point data, and thereby inputs the reference point.

[0101] As described above, the reference point input by the selected input method is displayed superimposed on the camera image 521. The user inputs the coordinate value of the reference point into the coordinate value input unit 514b. This provides the reference point and the coordinate value to the radar setting device 400.

[0102] [3. Effects of the embodiment] A radar setting device (display device) 400 according to the embodiment includes a display unit 405 and an input unit 406. The display unit 405 is configured to display a setting screen 500 for setting the radar 100. The radar 100 is an infrastructure radio wave radar that transmits radio waves to a target area 300, receives reflected waves from vehicles V, and detects vehicles V in the target area 300. The input unit 406 is configured to accept input of lane shape lines 522 and reference points 523a and 523b. The lane shape lines 522 indicate the shape of lanes in the target area 300. The reference points 523a and 523b indicate specific positions in the target area 300. The setting screen 500 includes an image display unit 520 and a coordinate value input unit (coordinate value display unit) 514b. The image display unit 520 is configured to superimpose and display the lane shape lines 522 and reference points 523a, 523b input using the input unit 406 on a camera image 521 acquired by the camera 107 capturing an image of the target area 300. The coordinate value input unit 514b is configured to display coordinate values ​​corresponding to a specific position. The coordinate values ​​are coordinate values ​​in a coordinate space that indicates the position of an object detected by the radar 100. This allows the user to input, on the setting screen 500, the lane shape lines 522 and reference points 523a, 523b used to define the relationship between the coordinate space of the radar 100 and the position of the road, thereby assisting in setting the relationship between the coordinate space of the radar and the position of the road.

[0103] The radar setting device 400 may further include a communication I / F (output unit) 407. The communication I / F 407 is configured to set the position and shape of the lane in the coordinate space based on the lane shape line 522, the reference points 523a and 523b, and the coordinate values ​​received by the input unit 406. This allows the position and shape of the lane in the coordinate space of the radar 100 to be set using the output setting information.

[0104] The setting screen 500 may further include a reference point input button (input instruction section) 514a. The reference point input button 514a is configured to accept an instruction to input reference points 523a and 523b. When an instruction to input reference points 523a and 523b is accepted by the reference point input button 514a, the radar setting device 400 may enable input of the reference point 52 on the camera image 521. After instructing input of the reference points 523a and 523b by the reference point input button 514a, the user can input the reference points 523a and 523b directly on the camera image 521. This makes it possible to assist the user in inputting the reference points 523a and 523b.

[0105] The coordinate value input unit 514b may receive coordinate values ​​input using the input unit 406 and display the received coordinate values. This can assist in inputting the coordinate values ​​of the reference points 523a and 523b in the coordinate space of the radar 100.

[0106] The image display unit 520 may display selectable candidate points that are candidates for the reference points 523a and 523b on the camera image 521. The candidate points selected using the input unit 406 may be the reference points 523a and 523b. This allows the user to easily input the reference points 523a and 523b by selecting the candidate points. This makes it possible to assist the user in inputting the reference points 523a and 523b.

[0107] The image display unit 520 may superimpose and display a travel trajectory 524 of the vehicle V detected by the radar 100 on the camera image 521. By checking whether the travel trajectory 524 is within the lane in the camera image 521, the user can easily check whether the relationship between the coordinate space of the radar 100 and the position of the lane is set correctly.

[0108] The setting screen 500 may further include a lane adjustment unit (adjustment unit) 515. The lane adjustment unit 515 is configured to accept adjustment of the position of the traveling trajectory 524 relative to the camera image 521. The radar installation device 400 may include a communication I / F (output unit) 407. The communication I / F 407 is configured to output correction data (correction information) based on the adjustment of the position of the traveling trajectory 524. The correction data is information for correcting the position and shape of the lane in the coordinate space. Thereby, by adjusting the position of the traveling trajectory 524 in the camera image 521, it is possible to correct the relationship between the coordinate space and the position of the lane.

[0109] Based on the adjustment of the position of the traveling trajectory 524, the position of the traveling trajectory 524 may change with respect to the camera image 521. This allows the user to adjust the position of the traveling trajectory 524 while checking the position of the traveling trajectory 524 with respect to the camera image 521. This makes it possible to assist the user in adjusting the position of the traveling trajectory 524.

[0110] The radar 100 may include a fixing member 107a. The fixing member 107a fixes the camera 107 in a state where the optical axis direction of the camera 107 is aligned with the axial direction of the radio wave emission axis of the radar 100. As a result, when the radio wave emission axis of the radar 100 is aligned with the target area 300, the camera 107 can capture an image of the target area 300.

[0111] [4. Supplementary Notes] The embodiments disclosed herein are illustrative in all respects and are not restrictive. The scope of the present invention is defined by the claims rather than the above-described embodiments, and includes meanings equivalent to the claims and all modifications within the scope thereof. [Explanation of symbols]

[0112] 100: Radar (radio wave radar for infrastructure), 101: Transmitting and receiving surface, 102: Radar main body, 103: Depression angle adjustment unit, 104: Horizontal angle adjustment unit, 105: Roll angle adjustment unit, 106: Memory unit, 107: Camera, 107a: Fixing member, 200: Arm, 300: Target area, 400: Radar setting device (display device), 401: Processor, 402: Non-volatile memory, 403: Volatile memory, 404: Graphic controller, 405: Display unit, 406: Input unit, 409: Setting program, 411: Setting screen display unit, 412: Image input unit, 413: Data input unit, 41 4: Lane shape input unit, 415: Reference point input unit, 416: Lane editing unit, 417: Coordinate adjustment unit, 418: Setting information transmission unit, 419: Trajectory data receiving unit, 420: First count result input unit, 421: Second count result input unit, 422: Radar detection result receiving unit, 423: Matching unit, 424: Record storage unit, 500: Setting screen (confirmation screen), 510: User operation unit, 511: Image reading instruction unit, 511a: Image reading button, 512: Basic data input unit, 512a: Number of lanes input unit, 512b: Lane width input unit, 512c: Installation height input unit, 512d: Offset amount input unit, 512e: Detection method input section, 513: Lane drawing instruction section, 513a: Lane drawing instruction button, 513b: Lane editing button, 514: Reference point input instruction section, 514a: Reference point input button, 514b: Coordinate value input section, 515: Lane adjustment section, 515a: Enlarge button, 515b: Reduce button, 515c: Up movement button, 515d: Down movement button, 515e: Right movement button, 515f: Left movement button, 515g: Clockwise rotation button, 515h: Counterclockwise rotation button, 515i: Forward rotation button, 515j: Backward rotation button, 520: Image display section, 521: Camera image, 522, 523: Lane shape line, 523a, 523b: Reference point, 523c: Node, 524: Driving trajectory, 530: Traffic count result display unit, 531: First count result display unit (first result display unit), 531a, 531b, 531c, 531d, 534a, 534b, 534c, 534d: Count value display unit, 532: Second count result display unit (second result display unit), 532a, 533a, 532b, 533b, 532c, 533c, 532d, 533d: Count button, 535: Detection period display unit, 535a: Reception time display unit, 535b: Scheduled reception time display unit,535c: Reception interval display section, 536: Erase button, 540: Bird's-eye view display section, 541: Bird's-eye view, 542: Figure, 550: Matching result display section, 550a: Accuracy display section, 550b: Judgment result display section, 551: Recording start button, 560: Save instruction section, 561: Save instruction button, 562: Cancel button, 600: Selection section, 610: Manual input button, 620: Automatic input button, 630: Radar input button, R1, R2, R3: Lane area, V: Vehicle,

Claims

1. a display unit configured to display a setting screen for setting an infrastructure radio wave radar that transmits radio waves to a target area, receives reflected waves from vehicles, and detects vehicles in the target area; and an input unit configured to receive input of lane shape lines indicating the shape of lanes in the target area and reference points indicating specific positions in the target area; an output unit that outputs setting information for setting the infrastructure radio wave radar; Equipped with The setting screen is an image display unit configured to display the lane shape lines and the reference points input using the input unit by superimposing them on an image obtained by a camera that captures an image of the target area; a coordinate value display unit configured to display coordinate values ​​corresponding to the reference points; Including, the coordinate values ​​are coordinate values ​​in a coordinate space for indicating the position of an object detected by the infrastructure radio wave radar, the output unit outputs the setting information for setting the position and shape of the lane in the coordinate space based on the lane shape line, the reference point, and the coordinate values ​​received by the input unit. Display device.

2. the setting screen further includes an input instruction unit configured to receive an input instruction for the reference point; When the input instruction unit receives an instruction to input the reference point, the reference point can be input on the image. The display device according to claim 1 .

3. the coordinate value display unit receives the coordinate values ​​input using the input unit and displays the received coordinate values. The display device according to claim 1 or 2.

4. the image display unit displays selectable candidate points that are candidates for the reference point on the image; The candidate point selected using the input unit is set as the reference point. The display device according to claim 1 .

5. the image display unit displays a movement trajectory of an object detected by the infrastructure radio wave radar superimposed on the image. The display device according to claim 1 .

6. the setting screen further includes an adjustment unit configured to accept adjustment of a position of the movement trajectory relative to the image; the display device includes an output unit configured to output correction information for correcting the position and shape of the lane in the coordinate space based on the adjustment of the position of the movement trajectory. The display device according to claim 5 .

7. a position of the trajectory is changed relative to the image based on the adjustment of the position of the trajectory; The display device according to claim 6.

8. the infrastructure radio wave radar includes a fixing member that fixes the camera in a state where an optical axis direction of the camera is aligned with an axial direction of a radio wave irradiation axis of the infrastructure radio wave radar; The display device according to claim 1 .

9. On the computer, a process of displaying a setting screen for setting an infrastructure radio wave radar that transmits radio waves to a target area, receives reflected waves from vehicles, and detects vehicles in the target area; A process of receiving input of lane shape lines indicating the shape of lanes in the target area and reference points indicating specific positions in the target area; a process of outputting setting information for setting the infrastructure radio wave radar; Execute The setting screen is an image display unit configured to display the lane shape lines and the reference points input using the input unit by superimposing them on an image obtained by a camera that captures an image of the target area; a coordinate value display unit configured to display coordinate values ​​corresponding to the reference points; Including, the coordinate values ​​are coordinate values ​​in a coordinate space for indicating the position of an object detected by the infrastructure radio wave radar, the outputting process is a process of outputting the setting information for setting the position and shape of a lane in the coordinate space based on the lane shape line, the reference point, and the coordinate values ​​received by the input unit. Computer program.

10. A setting method that combines an infrastructure radio wave radar that transmits radio waves to a target area and receives waves reflected by vehicles to detect vehicles in the target area, and a camera that enables optical representation of the field of view of the infrastructure radio wave radar, determining a reference point indicating a particular location within the target area; a step of superimposing and displaying lane shape lines indicating the shapes of lanes included in the target area and the reference points on an image obtained by the camera; outputting setting information for setting the position and shape of a lane in a coordinate space based on the lane shape line, the reference point, and a coordinate value corresponding to the reference point in a coordinate space for indicating the position of an object detected by the infrastructure radio wave radar; setting the position and shape of the lane in the coordinate space of the infrastructure radio wave radar based on the output setting information; A setting method having:

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