Setting support device for radio wave sensor, setting support method for radio wave sensor, and computer program

Abstract

A setting support device for a radio wave sensor according to the present invention comprises an acquisition unit that acquires detection results obtained by a radio wave sensor detecting an object moving in a crosswalk, a display control unit that, on the basis of the detection results, makes a display device display a movement locus for the object in a coordinate space that has been preset in the radio wave sensor, a designation unit that, on the basis of the movement locus displayed at the display device, receives designation by a user of the location within the coordinate space of a definition point that defines a detection area that corresponds to the crosswalk, and a setting unit that places the definition point at the designated location within the coordinate space and thereby sets the detection area in the coordinate space.

Description

Radio wave sensor setting support device, radio wave sensor setting support method, and computer program

[0001] This application claims priority to Japanese Patent Application No. 2022-194311, filed December 5, 2022, and incorporates by reference all of the contents of that application.

[0002] For the purpose of traffic monitoring, radio wave sensors are installed at positions where they can detect objects such as vehicles and pedestrians on roads or intersections. Such infrastructure (road facility) radio wave sensors are used, for example, to measure the traffic volume of vehicles traveling on roads and detect pedestrians on crosswalks. In order to use a radio wave sensor for traffic monitoring, it is necessary to set areas to be detected (hereinafter referred to as "detection areas"), such as roadways, lanes, crosswalks, and sidewalks, in the coordinate system of the radio wave sensor (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2017-090078

[0004] A radio wave sensor setting assistance device according to one aspect of the present disclosure includes an acquisition unit that acquires detection results of an object moving on a crosswalk detected by a radio wave sensor; a display control unit that causes a display device to display a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the detection results; a designation unit that receives from a user designation of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk based on the movement trajectory displayed on the display device; and a setting unit that sets the detection area in the coordinate space by placing the definition point at the designated position in the coordinate space.

[0005] A radio wave sensor setting support method according to one aspect of the present disclosure includes the steps of: acquiring a detection result of an object moving on a crosswalk detected by a radio wave sensor; displaying, on a display device, a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; accepting from a user, based on the movement trajectory displayed on the display device, a specification of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk; and setting the detection area in the coordinate space by placing the definition point at the specified position in the coordinate space.

[0006] A computer program according to one aspect of the present disclosure is a computer program for assisting in the setting of a radio wave sensor that detects objects on a crosswalk, and causes a computer to execute the following steps: acquiring a detection result of an object moving on a crosswalk detected by the radio wave sensor; displaying, on a display device, a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the detection result; accepting from a user, based on the movement trajectory displayed on the display device, a specification of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk; and setting the detection area in the coordinate space by placing the definition point at the specified position in the coordinate space.

[0007] FIG. 1 is a diagram illustrating an example of use of an infrastructure radio wave sensor according to an embodiment. FIG. 2 is a block diagram illustrating an example of the hardware configuration of a setting support device according to an embodiment. FIG. 3 is a functional block diagram illustrating an example of functions of the setting support device according to an embodiment. FIG. 4 is a diagram illustrating an example of a setting screen. FIG. 5 is a diagram illustrating an example of a display of a movement trajectory. FIG. 6 is a diagram illustrating an example of selection of a movement trajectory. FIG. 7 is a diagram illustrating an example of candidate positions of a definition point. FIG. 8 is a diagram illustrating adjustment of the position of a definition point. FIG. 9 is a diagram illustrating adjustment of the position of an auxiliary definition point. FIG. 10 is a diagram illustrating an example of a set detection area. FIG. 11 is a diagram illustrating an example of creation of a central waiting area. FIG. 12 is a diagram illustrating an example of a created central waiting area. FIG. 13 is a flowchart illustrating an example of setting support operation of an infrastructure radio wave sensor by the setting support device according to an embodiment. FIG. 14 is a diagram illustrating an example of an evaluation screen.

[0008] [Problem to be Solved by the Present Disclosure] In order to accurately detect pedestrians on a crosswalk, it is necessary to accurately set the detection area for the radio wave sensor. Conventionally, to set the detection area for a crosswalk, workers would measure the position of the crosswalk, the distance from the radio wave sensor, etc., or install reflectors on the crosswalk that can be detected by the radio wave sensor, but this work required a large number of people and was time-consuming.

[0009] Effect of the Present Disclosure According to the present disclosure, it is possible to assist in setting a detection area for a pedestrian crossing in a radio wave sensor.

[0010] [Outline of Embodiments of the Present Disclosure] Below, an outline of embodiments of the present disclosure will be listed and described.

[0011] (1) A radio wave sensor setting assistance device according to this embodiment includes an acquisition unit that acquires detection results of an object moving across a crosswalk detected by the radio wave sensor, a display control unit that causes a display device to display a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection results, a designation unit that receives from a user designation of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk based on the movement trajectory displayed on the display device, and a setting unit that sets the detection area in the coordinate space by placing the definition point at the designated position in the coordinate space. This makes it possible to assist a user in setting a detection area for a crosswalk using the radio wave sensor.

[0012] (2) In the above (1), the display control unit may cause the display device to display a plurality of the movement trajectories of a plurality of the objects, the setting assistance device may further include a selection unit that selects one or more of the movement trajectories displayed on the display device, and the designation unit may receive from the user a designation of a position of the definition point in the coordinate space based on the one or more movement trajectories selected by the selection unit. This allows the user to designate the position of the definition point based on one movement trajectory selected from the plurality of movement trajectories.

[0013] (3) In the above (2), the selection unit may accept designation of the one or more movement trajectories from the user and select the one or more designated movement trajectories, thereby allowing the user to designate one movement trajectory that can be used to set the detection area from among the plurality of movement trajectories.

[0014] (4) In the above (2), the selection unit may select one or more of the plurality of movement trajectories based on movement patterns of the plurality of objects on each of the plurality of movement trajectories. This makes it possible to select a movement trajectory with a specific movement pattern from the plurality of movement trajectories and use the selected movement trajectory to set a detection area.

[0015] (5) In the above (2), the selection unit may select one or more of the plurality of movement trajectories based on the radio wave irradiation direction of the radio wave sensor and the direction of each of the plurality of movement trajectories. This allows a movement trajectory facing a specific direction with respect to the radio wave irradiation direction to be selected from the plurality of movement trajectories, and the selected movement trajectory to be used to set the detection area.

[0016] (6) In any one of (2) to (5) above, the display control unit may display the one or more movement trajectories selected by the selection unit and movement trajectories not selected by the selection unit in different modes, thereby allowing the user to distinguish the selected movement trajectory from other movement trajectories.

[0017] (7) In any one of (1) to (6) above, the setting assistance device may further include a determination unit that determines candidate positions of the definition point in the coordinate space based on the movement trajectory and displays the candidate positions on the display device, thereby allowing a user to specify the position of the definition point using the displayed candidate positions.

[0018] (8) In the above (7), the determination unit may determine the candidate positions based on a moving average value of a time series of object positions on the trajectory. This makes it possible to suppress the influence of errors in the trajectory and determine appropriate candidate positions.

[0019] (9) In any one of (1) to (8) above, the setting unit may arrange a plurality of the definition points at a plurality of positions specified in the coordinate space and set the detection area as a polygon having the plurality of definition points as vertices. This allows a user to set an appropriate detection area by specifying the positions of the definition points.

[0020] (10) In any one of (1) to (9) above, the display control unit may display the movement trajectory superimposed on an initial area that is a preset detection area in the coordinate space, thereby allowing the user to grasp the position of the movement trajectory relative to the preset detection area.

[0021] (11) A radio wave sensor configuration support method according to this embodiment includes the steps of: acquiring a detection result of an object moving across a crosswalk detected by the radio wave sensor; displaying, on a display device, a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; receiving, from a user, a designation of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk based on the movement trajectory displayed on the display device; and setting the detection area in the coordinate space by placing the definition point at the designated position in the coordinate space. This makes it possible to support a user in setting a detection area for a crosswalk using a radio wave sensor.

[0022] (12) A computer program according to this embodiment is a computer program for assisting in the setting of a radio wave sensor that detects objects on a crosswalk, and causes a computer to execute the following steps: acquiring a detection result of an object moving on a crosswalk detected by the radio wave sensor; displaying, on a display device, a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; accepting from a user, based on the movement trajectory displayed on the display device, a specification of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk; and setting the detection area in the coordinate space by placing the definition point at the specified position in the coordinate space. This makes it possible to assist a user in setting the detection area of ​​a crosswalk for the radio wave sensor.

[0023] In the present disclosure, a part or all of the radio wave sensor setting support device can be configured as a semiconductor integrated circuit. In the present disclosure, a system can be configured that includes the radio wave sensor setting support device as a part thereof.

[0024] [Details of the embodiments of the present disclosure] Hereinafter, details of the embodiments of the present disclosure will be described with reference to the drawings. Note that at least some of the embodiments described below may be combined in any manner.

[0025] 1. Reference is made to Fig. 1. An infrastructure radio wave sensor 10 according to this embodiment, which is an example of a radio wave sensor, is a radio wave radar for traffic monitoring. The infrastructure radio wave sensor 10 detects pedestrians at a crosswalk 20. The infrastructure radio wave sensor 10 is, for example, a millimeter-wave radar.

[0026] The infrastructure radio wave sensor 10 is attached to a structure 50 provided on a road. The structure 50 is several meters tall. The infrastructure radio wave sensor 10 is installed several meters above ground. The structure 50 includes, for example, a pole 51 and an arm 52 provided near the top end of the pole 51. The infrastructure radio wave sensor 10 is attached to the arm 52.

[0027] The infrastructure radio wave sensor 10 emits radio waves (millimeter waves) onto the crosswalk 20 and receives the reflected waves to detect an object (e.g., a pedestrian or a bicycle) on the crosswalk 20. More specifically, the infrastructure radio wave sensor 10 can detect the distance from the infrastructure radio wave sensor 10 to an object on the crosswalk 20, the speed of the object, and the horizontal angle (azimuth angle) of the position of the object relative to the radio wave emission axis.

[0028] The infrastructure radio wave sensor 10 is set with a detection area 30, which is a range on the road for detecting objects. The detection area 30 is a part of a radio wave irradiation range 40 of the infrastructure radio wave sensor 10. The radio wave irradiation range 40 covers the detection area 30. In order for the infrastructure radio wave sensor 10 to monitor the traffic conditions across the entire crosswalk 20, it is preferable to set a detection area 30 that includes the entire crosswalk 20. The radio wave irradiation range 40 is a range in which an object reflects the radio waves irradiated by the infrastructure radio wave sensor 10 and the infrastructure radio wave sensor 10 can detect the object based on the reflected waves from the object. The radio wave irradiation range 40 does not have to include a range in which the infrastructure radio wave sensor 10 cannot detect an object even if it can irradiate radio waves. However, the radio wave irradiation range 40 is not limited to this and may be the entire range in which the infrastructure radio wave sensor 10 can irradiate radio waves.

[0029] A coordinate space for detecting objects is set in the infrastructure radio wave sensor 10. Hereinafter, the unique coordinate system set in the infrastructure radio wave sensor 10 is also referred to as the "intrinsic coordinate system." For example, the inherent coordinate system is a Cartesian coordinate system with an origin at a point on the ground vertically below the infrastructure radio wave sensor 10 and two mutually orthogonal horizontal axes, the X-axis and the Y-axis. For example, the Y-axis is the intersection line between the ground and a vertical plane including the radio wave irradiation axis of the infrastructure radio wave sensor 10 (the normal direction of the radio wave irradiation surface of the infrastructure radio wave sensor 10). Hereinafter, the direction of this intersection line extending from the origin to the radio wave irradiation range 40 is also referred to as the "radio wave irradiation direction." The X-axis is an axis perpendicular to the Y-axis. The X-axis is an axis parallel to the ground.

[0030] In order for the infrastructure radio wave sensor 10 to accurately detect an object on the crosswalk 20, it is necessary to accurately set the detection area 30 in the coordinate space of the unique coordinate system (hereinafter also referred to as the "unique coordinate space"). In this embodiment, the setting assistance device assists the user (operator) in setting the detection area 30 in the unique coordinate space of the infrastructure radio wave sensor 10.

[0031] 2. Configuration of the Setting Support Device See FIG. 2. The setting support device 100 according to this embodiment is used by a user who sets the detection area 30 of the infrastructure radio wave sensor 10. The setting support device 100 includes a processor 101, a non-volatile memory 102, a volatile memory 103, an input / output interface (I / O) 104, a graphics controller 105, and a communication interface (communication I / F) 106. The setting support device 100 further includes an input device 201 and a display device 202. Note that at least one of the input device 201 and the display device 202 may be an external device connected to the setting support device 100.

[0032] The volatile memory 103 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 102 is, for example, a flash memory, a hard disk, or a ROM (Read Only Memory). The non-volatile memory 102 stores a setting assistance program 107, which is a computer program, and data used to execute the setting assistance program 107. The functions of the setting assistance device 100 are realized when the setting assistance program 107 is executed by the processor 101. The setting assistance program 107 can be stored in a recording medium such as a flash memory, a ROM, or a CD-ROM. The processor 101 uses the setting assistance program 107 to assist the user in setting the detection area 30 of the infrastructure radio wave sensor 10.

[0033] The processor 101 is, for example, a CPU (Central Processing Unit). However, the processor 101 is not limited to a CPU. The processor 101 may also be a GPU (Graphics Processing Unit). The processor 101 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 processing similar to that of the setting assistance program 107.

[0034] For example, the input device 201 includes a keyboard and a pointing device such as a mouse. The input device 201 may be a capacitive or pressure-sensitive touchpad overlaid on the screen of the display device 202. The input device 201 is used to input data to the setting assistance device 100. The input / output interface 104 is connected to the input device 201. The input / output interface 104 accepts input data from the input device 201 and provides the accepted data to the processor 101.

[0035] The display device 202 includes, for example, a liquid crystal panel or an OEL (organic electroluminescence) panel. The display device 202 can display text or graphic information. The graphics controller 105 is connected to the display device 202 and controls the display on the display device 202. The graphics controller 105 includes, for example, a GPU and a VRAM (Video RAM), stores data to be displayed on the display device 202 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 device 202, and the video is displayed on the display device 202. The function of the graphics controller 105 may be included in the processor 101. A portion of the area of ​​the volatile memory 103 may be used as the VRAM.

[0036] The communication I / F 106 can communicate with external devices. For example, the communication I / F 106 is connected to the infrastructure radio wave sensor 10 via a communication cable and can communicate with the infrastructure radio wave sensor 10. The communication I / F 106 may be a wireless communication interface and can communicate with the infrastructure radio wave sensor 10 wirelessly. The communication I / F 106 may also be able to communicate with the infrastructure radio wave sensor 10 via a wide area communication network.

[0037] 3. Functions of the Setting Support Device] See Fig. 3. When the processor 101 executes the setting support program 107, the setting support device 100 functions as an acquisition unit 110, a display control unit 111, a selection unit 112, a determination unit 113, a designation unit 114, and a setting unit 115.

[0038] The infrastructure radio wave sensor 10 can be set to two operation modes: a setting mode and an operation mode. The setting mode is an operation mode for setting a detection area 30 in the infrastructure radio wave sensor 10. The operation mode is an operation mode for detecting objects for traffic monitoring after the detection area 30 has been set.

[0039] When setting the detection area 30, the infrastructure radio wave sensor 10 is started in the setting mode. The setting assistance device 100 communicates with the infrastructure radio wave sensor 10 operating in the setting mode and sets the detection area 30.

[0040] The setting support device 100 can display a setting screen for setting the detection area 30. See Fig. 4. The setting screen 300 includes a start reception button 301, a create detection area button 302, a height / angle setting button 303, a set definition point button 304, a set auxiliary definition point button 305, a create mesh button 306, a set mask button 307, and an evaluate button 308.

[0041] The start reception button 301 is a button for starting reception of detection results from the infrastructure radio wave sensor 10. When the user clicks the start reception button 301, the infrastructure radio wave sensor 10 transmits the detection results, and the setting assistance device 100 receives the detection results.

[0042] The detection area creation button 302 is a button for creating initial data for the detection area 30. The initial data for the detection area 30 may be created at a predetermined position and size in the unique coordinate space, or may be created based on the detection results of the infrastructure radio wave sensor 10.

[0043] The height / angle setting button 303 is a button for setting the installation height from the ground and the radio wave emission direction of the infrastructure radio wave sensor 10. When the user clicks the height / angle setting button 303, the user is able to input the installation height from the ground and the radio wave emission direction of the infrastructure radio wave sensor 10. The user can set the installation height and the radio wave emission direction by inputting the installation height from the ground and the radio wave emission direction of the infrastructure radio wave sensor 10 from the ground to the setting support device 100 using the input device 201.

[0044] 3 , the acquisition unit 110 acquires the detection result of an object moving on a crosswalk from the infrastructure radio wave sensor 10 that is set to the setting mode. That is, the acquisition unit 110 acquires the detection result by receiving it from the infrastructure radio wave sensor 10.

[0045] The display control unit 111 causes the display device 202 to display the movement trajectory of the object in the intrinsic coordinate space based on the detection result acquired by the acquisition unit 110. Fig. 5 is a diagram showing an example of the movement trajectory display. A movement trajectory 310A extending in the longitudinal direction of the crosswalk (a direction perpendicular to the roadway on which the crosswalk is provided) is, for example, the movement trajectory of a pedestrian or bicycle (hereinafter also referred to as "crosser") crossing the crosswalk. A movement trajectory 310B extending in the width direction of the crosswalk (the direction of the roadway on which the crosswalk is provided) is, for example, the movement trajectory of a vehicle traveling on the roadway.

[0046] The infrastructure radio wave sensor 10 outputs a detection result at predetermined time intervals. When an object such as a pedestrian, bicycle, or vehicle moves, the position of the object detected by the infrastructure radio wave sensor 10 changes. The detection result includes position information of the object and time information of the object detection. For example, the display control unit 111 draws the position of the detected object as a point in an intrinsic coordinate space in real time. For example, movement trajectories 310A and 310B are configured by a set of points indicating the position of the same object at each time. In another example, the display control unit 111 may display the movement trajectories 310A and 310B as lines by connecting points arranged in chronological order with lines.

[0047] The display control unit 111 may display the latest detected position of the object using a graphic different from the points or lines that make up the movement trajectory. In the example of Fig. 5, the latest detected position of the object is shown using a circular mark. This allows the user to recognize the current position of the object.

[0048] The infrastructure radio wave sensor 10 identifies detected objects and assigns identification information to each object. That is, the infrastructure radio wave sensor 10 identifies currently detected objects that are the same as previously detected objects based on the positions and movement directions of previously detected objects and the positions and movement directions of currently detected objects. This allows the infrastructure radio wave sensor 10 to track detected objects.

[0049] The detection result may include identification information of the object. The display control unit 111 may display the movement trajectories 310A and 310B as lines by connecting the positions of objects with the same identification information in chronological order with a line.

[0050] In another example, the setting assistance device 100 may store detection results received in advance from the infrastructure radio wave sensor 10 in the non-volatile memory 102, and the acquisition unit 110 may acquire the detection results by reading out the stored detection results. In this way, even when the infrastructure radio wave sensor 10 and the setting assistance device 100 are unable to communicate with each other, the user can determine the position, angle, shape, and size of the detection area 30 in the unique coordinate space using the setting assistance device 100, and when the infrastructure radio wave sensor 10 and the setting assistance device 100 are able to communicate with each other, the determined detection area 30 can be set in the infrastructure radio wave sensor 10.

[0051] For example, the display control unit 111 calculates a moving average value of the position of the same object over a predetermined time period (e.g., three seconds). Specifically, the display control unit 111 saves the positions of objects with the same identification information output from the infrastructure radio wave sensor 10, and sequentially calculates the average value of the positions over the past three seconds from the saved multiple positions. The display control unit 111 may display the movement trajectories 310A and 310B by drawing the calculated moving average values ​​of the positions as points.

[0052] For example, the movement trajectories 310A and 310B are displayed superimposed on an initial area 320A, which is an initially set detection area. This allows the user to check the position, angle, and size of the initial area 320A relative to the movement trajectories 310A and 310B. The initial area 320A may be set with its longitudinal direction aligned in a predetermined direction relative to the radio wave irradiation direction.

[0053] Furthermore, on the setting screen 300, an arrow 330 indicating the direction of radio wave irradiation may be displayed superimposed on the movement trajectories 310A and 310B.

[0054] The designation unit 114 receives, from the user, designation of the positions in the specific coordinate space of the definition points that define the detection area 320 based on the movement trajectory of the object displayed on the display device 202 .

[0055] The selection unit 112 selects one or more of the movement trajectories of the plurality of objects displayed on the display device 202. The designation unit 114 can receive, from the user, designation of the position of the definition point in the intrinsic coordinate space, based on the movement trajectory selected by the selection unit 112.

[0056] Returning to Fig. 4, the definition point setting button 304 is a button for setting the position of a definition point. When the user clicks the definition point setting button 304, a state is created in which the position of a definition point in the detection area 320 can be set. For example, when the definition point setting button 304 is clicked while the initial area 320A is displayed, a state is created in which the position of a definition point in the initial area 320A can be set. In this state, the user can specify the position of the definition point by using the input device 201.

[0057] In one example, the selection unit 112 can receive designation of one or more of the movement trajectories of a plurality of objects from a user, and select the designated one or more movement trajectories.

[0058] See FIG. 6 . For example, a worker walks in a specific pattern at a crosswalk. In one specific example, the worker walks along the outer edge of the crosswalk and stops at the four corners of the crosswalk for a certain period of time (several seconds). The movement trajectory of such a worker is rectangular. A user can recognize a movement trajectory that has the same shape as the worker's walking pattern as the worker's movement trajectory and select it by clicking on the movement trajectory.

[0059] The selected movement trajectory 310S is displayed in a different manner from the other movement trajectories (non-selected movement trajectories) 310A, 310B. For example, the movement trajectory 310S is displayed in a different color from the other movement trajectories 310A, 310B. In another example, the movement trajectory 310S is displayed with a different line type or line thickness from the movement trajectories 310A, 310B. This allows the user to visually distinguish the movement trajectory 310S from the movement trajectories 310A, 310B.

[0060] Furthermore, the selection unit 112 may display the latest object detection position on the movement trajectory 310S using a graphic different from the latest object detection positions on the movement trajectories 310A and 310B. In the example of Fig. 6, the latest object detection position on the movement trajectory 310S is indicated by a black circular mark, and the latest object detection positions on the movement trajectories 310A and 310B are indicated by a white circular mark.

[0061] The selection unit 112 may display the identification information of the object near the movement trajectory 310S. In the example of Fig. 6, the movement trajectory with identification information (ID) "10" and the movement trajectory with ID "20" are selected.

[0062] 3 , the selection unit 112 may select one or more of the movement trajectories of the plurality of objects based on the movement patterns of the objects in each of the movement trajectories 310A and 310B of the plurality of objects. As described above, the worker moves across the crosswalk in a specific pattern. The movement pattern of the worker is registered in advance in the setting assistance device 100, and the selection unit 112 can select a movement trajectory that matches the registered movement pattern from the movement patterns of the objects detected by the infrastructure radio wave sensor 10.

[0063] In yet another example, the selection unit 112 can select one or more of the movement trajectories of the plurality of objects based on the direction of radio wave irradiation of the infrastructure radio wave sensor 10 and the direction of the movement trajectory. For example, the direction in which the worker walks is registered in advance in the setting assistance device 100, and the selection unit 112 can select, from the movement trajectories of the objects detected by the infrastructure radio wave sensor 10, the movement trajectory whose movement direction matches the registered movement direction.

[0064] The determination unit 113 determines candidate positions in the intrinsic coordinate space of the definition point based on the movement trajectory, and displays the determined candidate positions on the display device 202. See Fig. 7. In the example of Fig. 7, for the sake of simplicity, only the selected movement trajectory 310S is shown, and the unselected movement trajectories 310A and 310B are omitted.

[0065] The detection area 320 includes a zebra area 321, which is a crosswalk area, and a waiting area 322, where pedestrians wait for the traffic light. The waiting areas 322 are provided on both sides of the detection area 320 in the longitudinal direction.

[0066] The definition points 321P are the four vertices of the rectangular zebra area 321. The definition points 321P are movable. For example, the user can select the definition point 321P as the object to be moved by clicking on it. The definition point 321S selected as the object to be moved is displayed in a different manner from the other definition points (non-selected definition points) 321P. In the example of FIG. 7 , a dashed frame is drawn around the definition point 321S selected as the object to be moved.

[0067] The user can change the position of the definition point 321S by dragging the definition point 321S selected as the target to be moved. By adjusting the position of the definition point 321S, the user can adjust the position, shape, and size of the zebra area 321.

[0068] As described above, for example, a worker walks along the outer edge of a crosswalk and stops at each of the four corners for a certain period of time. That is, the worker stops for a certain period of time (for example, five seconds) at one of the vertices of the rectangular crosswalk, for example, at one of the vertices on the left side of the crosswalk, and then walks along the left edge of the crosswalk toward the opposite bank. When the worker reaches the vertex on the left side of the crosswalk on the opposite bank, he stops for a certain period of time. Then, the worker walks from left to right along the edge of the crosswalk, along the boundary between the crosswalk (roadway) and the sidewalk. When the worker reaches the vertex on the right side of the crosswalk, he stops for a certain period of time. The worker then walks along the right edge of the crosswalk toward the opposite bank. When the worker reaches the vertex on the right side of the crosswalk, he stops for a certain period of time. Then, the worker walks from right to left along the edge of the crosswalk, along the boundary between the crosswalk (roadway) and the sidewalk.

[0069] The determining unit 113 determines the point where the worker stops for a certain period of time as the candidate position. In the example of Fig. 7, the candidate position 311 is shown as a hatched circular mark.

[0070] For example, the determination unit 113 can determine the candidate position 311 based on a moving average value of the object's position over time on the movement trajectory 310S. In one specific example, the determination unit 113 can calculate the moving average value of the object's position over a time width equal to the stop time at each stop position when a worker walks across a crosswalk in a specific pattern. That is, if the walking pattern of the work vehicle includes stopping for five seconds at each of the four vertices of the crosswalk, the determination unit 113 can set the time width of the moving average value to five seconds. This makes it possible to accurately identify the positions of the four vertices of the crosswalk.

[0071] The candidate positions do not have to be points on the movement trajectory. For example, a walking pattern of walking a predetermined distance (e.g., 50 cm) inside the outer edge of the crosswalk can be registered in advance in the setting assistance device 100. In this case, the outer edge of the crosswalk is located a predetermined distance outside the movement trajectory. The determination unit 113 can set the outer edge line of the crosswalk outside the movement trajectory by the pre-registered offset amount and determine the four vertices of the set outer edge line as the candidate positions 311.

[0072] The user can designate the candidate position 311 as the position to which the definition point 321S is moved by clicking the candidate position 311. Returning to Fig. 3, the designation unit 114 accepts the designation of the candidate position 311 by the user.

[0073] The setting unit 115 sets the detection area 320 in the inherent coordinate space by arranging definition points 321S at designated candidate positions 311 in the inherent coordinate space. In a specific example, the setting unit 115 can arrange multiple definition points 321P at each of the multiple candidate positions 311 designated in the inherent coordinate space, and create the detection area 320 as a polygon with the multiple definition points 321P as vertices.

[0074] Returning to Fig. 7, for example, the user can select definition point 321S as the point to be moved and specify candidate position 311 as the position to which definition point 321S will be moved. The setting unit 115 changes the position of the selected definition point 321S to the specified candidate position 311. As a result, the position of definition point 321S after the change is set to the vertex of the crosswalk.

[0075] See Figure 8. In the example of Figure 8, the position of the definition point 321P at the bottom right of the detection area 320 in Figure 7 has been changed to the candidate position 311 at the bottom right of the movement trajectory 310S. The position of the definition point 321P at the top right of the detection area 320 has been changed to the candidate position 311 at the top right of the movement trajectory 310S. Similarly, the user can change the position of the definition point 321P at the bottom left of the detection area 320 to the candidate position 311 at the bottom left of the movement trajectory 310S. The user can change the position of the definition point 321P at the top left of the detection area 320 to the candidate position 311 at the top left of the movement trajectory 310S.

[0076] In the setting screen 300, the detection area 320 includes auxiliary definition points 322P and 323P. The auxiliary definition point 322P is a point for defining the waiting area 322, and the auxiliary definition point 323P is a point for defining the shape of the zebra area 321 in detail.

[0077] For example, at an intersection, the corners of the sidewalk may be formed in an arc shape. In this case, both ends of the crosswalk will be curved in an arc shape. The auxiliary definition point 323P is placed between the definition points 321P on both ends on the boundary line between the zebra area 321 and the waiting area 322. The auxiliary definition point 323P is used to make the zebra area 321 conform to the shape of such a crosswalk.

[0078] In the initially set detection area 320, a waiting area 322 is provided by extending a predetermined length in the longitudinal direction from the zebra area 321. Auxiliary definition points 322P are placed at two vertices of the waiting area 322 that are distant from the zebra area 321. The waiting area 322 is defined by the two auxiliary definition points 322P and two definition points 321P at both ends of the boundary line between the waiting area 322 and the zebra area 321.

[0079] Returning to FIG. 4 , the auxiliary definition point setting button 305 is a button for setting the positions of the auxiliary definition points 322P and 323P. Once the position adjustment of the four definition points 321P is complete, the user can click the auxiliary definition point setting button 305. This makes it possible to set the positions of the auxiliary definition points 322P and 323P. In this state, the user can use the input device 201 to specify the positions of the auxiliary definition points 322P and 323P.

[0080] 3, the setting unit 115 can adjust the positions of the auxiliary definition points 322P and 323P, thereby adjusting the shapes of the zebra area 321 and the waiting area 322.

[0081] See Fig. 9. In the example of Fig. 9, the worker walks along the arc-shaped boundary between the crosswalk and the sidewalk, and the movement trajectory of the boundary portion is curved in an arc shape.

[0082] The auxiliary definition point 323P can be moved. For example, the user can select the auxiliary definition point 323P as a target to be moved by clicking on it. The auxiliary definition point 323S selected as a target to be moved is displayed in a different manner from the other auxiliary definition points (unasselected auxiliary definition points) 323P. In the example of FIG. 9 , a dashed frame is drawn around the auxiliary definition point 323S selected as a target to be moved.

[0083] The user can change the position of the auxiliary definition point 323S by dragging the auxiliary definition point 323S selected as the movement target. The user can adjust the position of the auxiliary definition point 323S so that it matches the curved movement trajectory.

[0084] The auxiliary definition point 322P can also be moved. For example, the user can select the auxiliary definition point 322P as the object to be moved by clicking on it. The auxiliary definition point 322P selected as the object to be moved is displayed in a different manner from the other auxiliary definition points (unasselected auxiliary definition points) 322P. For example, a dashed frame is drawn around the auxiliary definition point 322P selected as the object to be moved.

[0085] The user can change the position of the auxiliary definition point 322S by dragging the auxiliary definition point 322S selected as the target to be moved. The user can adjust the position, size, and shape of the waiting area 322 by adjusting the position of the auxiliary definition point 322S.

[0086] See Fig. 10. As described above, by adjusting the positions of the definition point 321P and auxiliary definition points 322P and 323P, it is possible to create the detection area 320 in accordance with the actual position, shape, and size of the crosswalk.

[0087] A crosswalk may have a median strip. The median strip is a safety zone and also a waiting area for pedestrians waiting for the traffic light to change. The setting assistance device 100 can create an area corresponding to the median strip (hereinafter also referred to as a "central waiting area") in the detection area 320 in the unique coordinate space.

[0088] See FIG. 11 . For example, a worker walks in a specific pattern in a median strip. In one specific example, the worker walks along the outer edge of the median strip and stops at each corner of the median strip for a certain period of time (several seconds). The movement trajectory 312 of such a worker is rectangular. The user can recognize a movement trajectory 312 that has the same shape as the worker's walking pattern as the worker's movement trajectory and select it by clicking on the movement trajectory 312.

[0089] When creating a detection area including a central waiting area, the setting assistance device 100 can initially set the central waiting area and display the initially set central waiting area 324 superimposed on the movement trajectory 312.

[0090] Auxiliary definition points 324P are placed at a plurality of vertices of the central waiting area 324. The auxiliary definition points 324P are points for defining the central waiting area 324.

[0091] 3 , the designation unit 114 receives from the user a designation of the position of the auxiliary definition point 324P in the intrinsic coordinate space based on the movement trajectory 312 of the object displayed on the display device 202. The designation unit 114 can receive from the user a designation of the position of the auxiliary definition point 324P in the intrinsic coordinate space based on the movement trajectory 312 selected by the selection unit 112.

[0092] The determination unit 113 determines a candidate position in the intrinsic coordinate space of the auxiliary definition point 324P based on the movement trajectory, and displays the determined candidate position on the display device 202. In the example of Fig. 11, for simplicity, only the selected movement trajectory 312 is shown, and unselected movement trajectories are omitted.

[0093] Returning to FIG. 11 , the auxiliary definition point 324P can be moved. For example, the user can select the auxiliary definition point 324P as the object to be moved by clicking on it. An auxiliary definition point 324S selected as the object to be moved is displayed in a different manner from other definition points (non-selected definition points) 324P. For example, a dashed frame is drawn around the auxiliary definition point 324S selected as the object to be moved.

[0094] The user can change the position of the auxiliary definition point 324S by dragging the auxiliary definition point 324S selected as the target to be moved. By adjusting the position of the auxiliary definition point 324S, the user can adjust the position, shape, and size of the central waiting area 324.

[0095] For example, the worker walks along the outer edge of the median strip and stops at each of the four corners for a certain period of time. The determination unit 113 determines the points where the worker stopped for the certain period of time as candidate positions. In the example of Figure 11, the candidate positions 313 are indicated by hatched circular marks.

[0096] For example, the determination unit 113 can determine the candidate position 313 based on a moving average value of the object's position over time on the movement trajectory 310S. In one specific example, the determination unit 113 can calculate the moving average value of the object's position over a time interval equal to the stop time at each stop position when a worker walks along the median strip in a specific pattern. That is, if the walking pattern of the work vehicle includes stopping for five seconds at each of the four vertices of the median strip, the determination unit 113 can set the time interval of the moving average value to five seconds. This makes it possible to accurately identify the positions of the four vertices of the median strip.

[0097] The user can specify the candidate position 313 as the position to which the auxiliary definition point 324S is moved by clicking the candidate position 313. Returning to Fig. 3, the specification unit 114 accepts the specification of the candidate position 313 by the user.

[0098] The setting unit 115 sets the central waiting area 324 in the inherent coordinate space by placing auxiliary definition points 324S at the specified candidate positions 313 in the inherent coordinate space. In a specific example, the setting unit 115 can place multiple auxiliary definition points 324P at each of the multiple candidate positions 313 specified in the inherent coordinate space, and create the central waiting area 324 as a polygon with the multiple auxiliary definition points 324P as vertices.

[0099] Returning to Fig. 11 , for example, the user can select the auxiliary definition point 324S as the point to be moved, and specify the candidate position 313 as the position to which the auxiliary definition point 324S will be moved. The setting unit 115 changes the position of the selected auxiliary definition point 324S to the specified candidate position 313. As a result, the position of the auxiliary definition point 324S is set to the vertex of the median strip.

[0100] See Figure 12. As described above, by adjusting the position of the auxiliary definition point 324P, the central waiting area 324 can be created to match the position, shape, and size of the actual central reservation strip.

[0101] Returning to FIG. 4 , the mesh creation button 306 is a button for displaying the detection area 320 in a mesh. When the user clicks the mesh creation button 306, the setting screen 300 switches to a mesh display of the detection area 320. In the mesh display, the detection area 320 is divided into a grid of rectangular areas of a specific size. In the mesh display, each rectangular area is color-coded according to the number of passing objects, the average speed of the passing objects, or the moving direction of the passing objects. After creating the detection area 320, the user can use the mesh display to evaluate whether the created detection area 320 is appropriate.

[0102] The mask setting button 307 is a button for creating a mask area that is excluded from detection targets. Stationary objects such as traffic light poles and objects that are constantly detected, such as plants, can cause erroneous detection of pedestrians. When the user clicks the mask setting button 307, the setting screen 300 transitions to a state in which a mask area can be created. In this state, the user can place a mask area in the unique coordinate space at the position of an object that is constantly detected. By excluding constantly detected objects from detection targets, erroneous detection of pedestrians can be reduced.

[0103] The evaluation button 308 is a button that allows the user to evaluate the created detection area 320. When the user clicks the evaluation button 308, the setting screen 300 transitions to an evaluation screen that allows the user to evaluate the detection area 320. For example, a detection result is received from the infrastructure radio wave sensor 10, and the evaluation screen displays the object's movement trajectory superimposed on the detection area 320. In one example, the user visually checks the actual crossing state of a pedestrian at a crosswalk and compares it with the movement trajectory and detection area 320 displayed on the display device 202 to evaluate whether the detection area 320 has been created correctly. For example, on the evaluation screen, the user can input an instruction to execute settings for the infrastructure radio wave sensor 10 using the created detection area 320. When the user inputs an instruction to execute settings, information about the detection area 320 is transmitted to the infrastructure radio wave sensor 10, and the detection area 320 is set in the infrastructure radio wave sensor 10.

[0104] The setting mode is completed when the detection area 320 is set in the infrastructure radio wave sensor 10. The infrastructure radio wave sensor 10 is started in the operation mode and detects an object using the set detection area 320.

[0105] 4. Operation of the Setting Support Device Reference is made to FIG.

[0106] The processor 101 of the setting assistance device 100 displays the setting screen 300 on the display device 202 and starts up the infrastructure radio wave sensor 10 in setting mode (step S101).

[0107] When the user clicks the reception start button 301, the detection result is transmitted from the infrastructure radio wave sensor 10. The setting assistance device 100 receives the detection result transmitted from the infrastructure radio wave sensor 10 (step S102).

[0108] When the user clicks the detection area creation button 302, the processor 101 initializes the detection area 320 (step S103).

[0109] When the user clicks the height / angle setting button 303, the setting assistance device 100 enters a state in which the user can input the installation height and installation angle (radio wave irradiation direction) of the infrastructure radio wave sensor 10. The processor 101 accepts the user's input of the installation height and radio wave irradiation direction of the infrastructure radio wave sensor 10, and sets the input installation height and radio wave irradiation direction (step S104).

[0110] Object movement trajectories 310A and 310B are displayed on setting screen 300. Processor 101 selects one or more of movement trajectories 310A and 310B (step S105). In step S105, processor 101 may select a movement trajectory clicked by the user, may select a movement trajectory matching a specific pattern registered in advance, or may select a movement trajectory based on a radio wave irradiation method.

[0111] The processor 101 determines candidate positions of the definition points from the selected movement trajectory (step S106).

[0112] The user designates a candidate position by clicking on the candidate position, and the processor 101 accepts the designation of the candidate position from the user (step S107).

[0113] The user selects a definition point by clicking on the definition point 321P, and the processor 101 accepts the selection of the definition point 321P from the user (step S108).

[0114] The processor 101 changes the position of the selected definition point 321S to the specified candidate position 311 (step S109).

[0115] The processor 101 determines whether the positions of all four definition points 321P have been determined (step S110). If there are any definition points 321P whose positions have not been determined (NO in step S110), the processor 101 returns to step S107. This allows the positions of the remaining definition points 321P to be determined.

[0116] When the positions of all four definition points 321P have been determined (YES in step S110), the processor 101 adjusts the positions of the auxiliary definition points 322P, 323P, and 324P (step S111). The positions of the auxiliary definition points 322P, 323P, and 324P are adjusted by a user operation. However, the position of the auxiliary definition point 324P in the central waiting area 324 may be adjusted to a candidate position determined from the movement trajectory of the worker in the central reservation strip.

[0117] The processor 101 displays the created detection area 320 on the display device 202 so that the user can check and evaluate the created detection area 320. For example, when the user clicks the mesh creation button 306, the processor 101 displays the detection area 320 as a mesh, and when the user clicks the evaluation button 308, the processor 101 displays the detection area 320 and the movement trajectory of the object in a superimposed manner. The user checks the created detection area 320 on the screen and evaluates the detection area 320 (step S112).

[0118] If the user approves of the created detection area 320, the user inputs an instruction to set the detection area 320 in the infrastructure radio wave sensor 10. Upon receiving the instruction to set the detection area 320 from the user, the processor 101 transmits data of the detection area 320 to the infrastructure radio wave sensor 10 and sets the detection area in the infrastructure radio wave sensor 10 (step S113). This completes the configuration support operation for the infrastructure radio wave sensor. According to the present disclosure, labor savings and shortened work time can be expected when setting up an infrastructure radio wave sensor.

[0119] [5. Variations] The position, shape, etc. of the road around the crosswalk may be displayed on an evaluation screen for evaluating the created detection area 320. FIG. 14 is a diagram showing an example of the evaluation screen. For example, the setting assistance device 100 can estimate the positions of the stop line 410 and lane 420 on the roadway intersecting the crosswalk from the vehicle's movement trajectory, and superimpose the estimated stop line 410 and lane 420 on the detection area 320 on the evaluation screen 400. Furthermore, the setting assistance device 100 may estimate the positions of the stop line 430 and lane 440 on the roadway parallel to the crosswalk from the vehicle's movement trajectory, and display the estimated stop line 430 and lane 440. This allows for more accurate evaluation of the position of the detection area 320.

[0120] In the above-described embodiment, the definition points 321P are the four vertices of the zebra area 321, but this is not limiting. For example, the definition points may be points located a predetermined distance inside or outside from the vertices of a polygonal (particularly rectangular) zebra area in at least one of the longitudinal and width directions of the detection area 320. As another example, the definition points may be vertices of the detection area 320 (i.e., the area including the zebra area 321 and the waiting area 322), or points located a predetermined distance inside or outside from the vertices of the detection area 320 in at least one of the longitudinal and width directions of the detection area 320. Furthermore, the definition points do not have to be determined based on the vertices of the zebra area 321 or the detection area 320. For example, the definition points may be the midpoints of each side of the zebra area 321 or the detection area 320, or points located a predetermined distance inside or outside from each midpoint in at least one of the longitudinal and width directions of the detection area 320. In this way, any point that can define the detection area 320 and has an arbitrary positional relationship with respect to the detection area 320 can be used as the definition point.

[0121] The embodiments disclosed herein are illustrative in all respects and are not restrictive. The scope of the present disclosure is defined by the claims, not the above-described embodiments, and includes meanings equivalent to the claims and all modifications within the scope thereof.

[0122] 10 Infrastructure radio wave sensor 20 Pedestrian crossing 30 Detection area 40 Radio wave irradiation range 50 Structure 51 Pole 52 Arm 100 Setting support device 101 Processor 102 Non-volatile memory 103 Volatile memory 104 Input / output interface (I / O) 105 Graphics controller 106 Communication interface (communication I / F) 107 Setting support program 110 Acquisition unit 111 Display control unit 112 Selection unit 113 Decision unit 114 Designation unit 115 Setting unit 201 Input device 202 Display device 300 Setting screen 301 Start reception button 302 Detection area creation button 303 Height / angle setting button 304 Definition point setting button 305 Auxiliary definition point setting button 306 Mesh creation button 307 Mask setting button 308 Evaluation button 310A, 310B, 310S, 312 Movement trajectory 311, 313 Candidate position 320 Detection area 320A Initial area 321 Zebra area 321P, 321S Definition point 322 Waiting area 322P, 322S, 323P, 323S, 324P, 324S Auxiliary definition point 324 Central waiting area 330 Arrow 400 Evaluation screen 410, 430 Stop line 420, 440 Lane

Claims

1. an acquisition unit that acquires a detection result of an object moving on a crosswalk detected by a radio wave sensor; a display control unit that displays, on a display device, a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the detection result; a designation unit that receives, from a user, designation of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk, based on the movement trajectory displayed on the display device; a setting unit that sets the detection area in the coordinate space by locating the definition point at a specified position in the coordinate space; Equipped with Radio wave sensor setting support device.

2. the display control unit causes the display device to display the movement trajectories of the objects; the setting assistance device further includes a selection unit for selecting one or more of the movement trajectories from the plurality of movement trajectories displayed on the display device; the designation unit accepts, from the user, designation of a position of the definition point in the coordinate space based on the one or more movement trajectories selected by the selection unit; The radio wave sensor setting support device according to claim 1.

3. the selection unit receives designation of the one or more movement trajectories from the user and selects the designated one or more movement trajectories. The radio wave sensor setting support device according to claim 2.

4. the selection unit selects one or more of the plurality of movement trajectories based on movement patterns of the plurality of objects on each of the plurality of movement trajectories; The radio wave sensor setting support device according to claim 2.

5. the selection unit selects one or more of the plurality of movement trajectories based on a radio wave irradiation direction of the radio wave sensor and the direction of each of the plurality of movement trajectories. The radio wave sensor setting support device according to claim 2.

6. the display control unit displays the one or more movement trajectories selected by the selection unit and movement trajectories not selected by the selection unit in different modes. The radio wave sensor setting support device according to claim 2.

7. a determination unit that determines candidate positions of the definition point in the coordinate space based on the movement trajectory and displays the candidate positions on the display device; The radio wave sensor setting support device according to any one of claims 1 to 6.

8. the determination unit determines the candidate position based on a moving average value of a time-series object position on the movement trajectory. The radio wave sensor setting support device according to claim 7.

9. the setting unit arranges the definition points at a plurality of positions designated in the coordinate space, and sets the detection area as a polygon having the definition points as vertices. The radio wave sensor setting support device according to any one of claims 1 to 6.

10. the display control unit displays the movement trajectory superimposed on an initial area, which is a preset detection area in the coordinate space. The radio wave sensor setting support device according to any one of claims 1 to 6.

11. A step of detecting an object moving on a crosswalk by a radio wave sensor and acquiring a detection result; a step of displaying, on a display device, a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; receiving, from a user, designation of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk, based on the movement trajectory displayed on the display device; setting the detection area in the coordinate space by placing the definition point at a specified position in the coordinate space; Including, A method for supporting the configuration of a radio wave sensor.

12. A computer program for assisting in setting a radio wave sensor that detects an object on a pedestrian crossing, On the computer, A step of acquiring a detection result of an object moving on a crosswalk detected by a radio wave sensor; a step of displaying, on a display device, a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; receiving, from a user, designation of a position in the coordinate space of a definition point that defines a detection area corresponding to the crosswalk, based on the movement trajectory displayed on the display device; setting the detection area in the coordinate space by placing the definition point at a specified position in the coordinate space; In order to execute Computer program.