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

Abstract

This setting device for a radio wave sensor comprises: an acquisition unit that acquires a result of sensing of an object moving on a crosswalk by the radio wave sensor; a generation unit that generates, on the basis of the sensing result, a moving trajectory of the object in a coordinate space which is preset for the radio wave sensor; and a determination unit that determines a sensing area corresponding to the crosswalk in the coordinate space on the basis of the moving trajectory of the object. The sensing area includes a first area including the crosswalk. The determination unit determines a borderline between the first area and a second area which is provided for a pedestrian to wait before crossing the crosswalk, on the basis of the moving trajectory of a vehicle traveling on a first roadway partially overlapping the crosswalk.

Description

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

[0001] This application claims priority to Japanese Patent Application No. 2023-000968 filed on January 6, 2023, 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. To use a radio wave sensor for traffic monitoring, it is necessary to set the detection target area (hereinafter referred to as the "detection area"), such as the roadway, lanes, crosswalks, and sidewalks, in the coordinate system of the radio wave sensor.

[0003] Patent Document 1 discloses that the detection area is defined by dividing it into four subareas: a subarea of ​​the crosswalk that overlaps with the exit lane where vehicles exit the intersection; a subarea of ​​the crosswalk that overlaps with the entry lane where vehicles enter the intersection; a subarea that is a waiting area for pedestrians adjacent to the exit lane; and a subarea that is a waiting area for pedestrians adjacent to the entry lane.

[0004] Japanese Patent Application Laid-Open No. 2017-090078

[0005] A radio wave sensor setting device according to one aspect of the present disclosure includes an acquisition unit that acquires detection results of an object moving across a crosswalk detected by a radio wave sensor; a generation unit that generates a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the detection results; and a determination unit that determines a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object, wherein the detection area includes a first area that includes the crosswalk, and the determination unit determines a boundary line between the first area and a second area where pedestrians are to wait to cross the crosswalk based on the movement trajectory of a vehicle traveling on a first road that partially overlaps with the crosswalk.

[0006] A radio wave sensor according to one aspect of the present disclosure comprises a transceiver unit that transmits radio waves to an area including a crosswalk and receives reflected waves of the radio waves by an object; a detection unit that detects the position of an object moving across the crosswalk based on the reflected waves received by the transceiver unit; a generation unit that generates a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the position of the object; and a determination unit that determines a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object, wherein the detection area includes a first area that includes the crosswalk, and the determination unit determines a boundary line between the first area and a second area where pedestrians are to wait to cross the crosswalk based on the movement trajectory of a vehicle traveling on a first road that partially overlaps with the crosswalk.

[0007] A radio wave sensor setting method according to one aspect of the present disclosure includes the steps of obtaining detection results of an object moving on a crosswalk by the radio wave sensor, generating a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection results, and determining a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object, wherein the detection area includes a first area that includes the crosswalk, and the determining step includes determining a boundary line between the first area and a second area where pedestrians wait to cross the crosswalk, based on a movement trajectory of a vehicle traveling on a first road that partially overlaps with the crosswalk.

[0008] A computer program according to one aspect of the present disclosure is a computer program for setting a radio wave sensor that detects objects on a crosswalk, and causes a computer to execute the following steps: acquiring detection results of an object moving on a crosswalk by the radio wave sensor; generating a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the detection results; and determining a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object, wherein the detection area includes a first area that includes the crosswalk, and the determining step includes determining a boundary line between the first area and a second area where pedestrians wait to cross the crosswalk based on a movement trajectory of a vehicle traveling on a first road that partially overlaps with the crosswalk.

[0009] FIG. 1 is a diagram illustrating an example of use of an infrastructure radio wave sensor according to an embodiment. FIG. 2 is a diagram illustrating an example of a detection area. FIG. 3 is a block diagram illustrating an example of a hardware configuration of an infrastructure radio wave sensor according to an embodiment. FIG. 4 is a block diagram illustrating an example of a hardware configuration of a setting device according to an embodiment. FIG. 5 is a functional block diagram illustrating an example of functions of an infrastructure radio wave sensor and a setting device according to an embodiment. FIG. 6 is a diagram illustrating an example of a movement trajectory of an object. FIG. 7 is a diagram illustrating an example of determining a definition line along the length of a pedestrian crossing. FIG. 8 is a diagram illustrating an example of tentatively determining a definition line along the width of a pedestrian crossing. FIG. 9 is a diagram illustrating an example of determining the shapes of a first boundary line and a second boundary line. FIG. 10 is a diagram illustrating an example of determining the positions of a first boundary line and a second boundary line. FIG. 11 is a diagram illustrating an example of determining a median strip area. FIG. 12 is a diagram illustrating an example of a display screen of a display device. FIG. 13 is a flowchart illustrating an example of an operation of an infrastructure radio wave sensor according to an embodiment. FIG. 14 is a flowchart illustrating an example of an operation of a setting device according to an embodiment. FIG. 15 is a functional block diagram illustrating a modified example of the functions of an infrastructure radio wave sensor according to an embodiment.

[0010] [Problem to be Solved by the Present Disclosure] At intersections, corner cuts are sometimes provided where two roadways join. Therefore, the boundary line between the crosswalk area that overlaps the roadway and the waiting area that overlaps the sidewalk is not necessarily a straight line. Unless the boundary line between the crosswalk area and the waiting area is accurately determined in the detection area of ​​the radio wave sensor, it is not possible to accurately distinguish between pedestrians crossing the crosswalk and pedestrians waiting in the waiting area.

[0011] [Effects of the Present Disclosure] According to the present disclosure, it is possible to correctly determine the boundary line between the crosswalk area and the waiting area in the detection area of ​​the radio wave sensor.

[0012] [Summary of Embodiments of the Present Disclosure] Below, an overview of embodiments of the present disclosure will be listed and described.

[0013] (1) A radio wave sensor setting device according to this embodiment includes an acquisition unit that acquires detection results of an object moving across a crosswalk by the radio wave sensor; a generation unit that generates a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection results; and a determination unit that determines a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object. The detection area includes a first area that includes the crosswalk, and the determination unit determines a boundary line between the first area and a second area where pedestrians wait to cross the crosswalk based on a movement trajectory of a vehicle traveling along a first roadway that partially overlaps the crosswalk. The movement trajectory of a vehicle traveling along the roadway follows the boundary line between the first area included in the roadway and the second area included in the sidewalk. This allows the boundary line between the first area and the second area to be accurately determined.

[0014] (2) In the above (1), the determining unit may further include the second area. With this configuration, the boundary line between the first area and the second area can be determined more accurately.

[0015] (3) In the above (1) or (2), the determination unit may determine the boundary line based on a movement trajectory of a vehicle turning right or left at an intersection between the first roadway and a second roadway intersecting the first roadway. The movement trajectory of the vehicle turning right or left follows an outer edge of the roadway at the intersection. This makes it possible to accurately determine the boundary line between the first area and the second area, for example, at an intersection with a corner cut.

[0016] (4) In the above (3), the determining unit may determine the shape of the boundary line based on a movement trajectory of a vehicle turning right or left at the intersection. This makes it possible to correctly determine the shape of the boundary line between the first area and the second area based on the movement trajectory that follows the outer edge of the roadway at the intersection.

[0017] (5) In the above (3) or (4), the detection area may include, as the second area, a first waiting area adjacent to an incoming lane on the first roadway through which vehicles enter the intersection, and a second waiting area adjacent to an outgoing lane on the first roadway through which vehicles exit the intersection. The determination unit may determine a first boundary line between the first area and the first waiting area based on a first movement trajectory, which is a movement trajectory of a vehicle turning left or right on the incoming lane to enter the second roadway, and determine a second boundary line between the first area and the second waiting area based on a second movement trajectory, which is a movement trajectory of a vehicle turning left or right on the second roadway to enter the outgoing lane. The movement trajectory of a vehicle turning right or left on the incoming lane to enter the second roadway follows an outer edge of a connection between the second roadway and the incoming lane. Therefore, the boundary line between the first area and the first waiting area can be accurately determined. The movement trajectory of a vehicle turning right or left from the second roadway and entering the exit lane follows the outer edge of the connection between the second roadway and the exit lane, so the boundary between the first area and the second waiting area can be accurately determined.

[0018] (6) In any one of (1) to (5) above, the determination unit may determine the boundary line further based on the position of a pedestrian waiting to cross the crosswalk, detected by the radio wave sensor. For example, when a pedestrian traffic light is red, pedestrians must wait to cross the crosswalk. Therefore, pedestrians waiting to cross the crosswalk due to the traffic light remain in the second area (waiting area). Therefore, the boundary line between the first area and the second area can be determined more accurately using the position of a pedestrian waiting to cross the crosswalk.

[0019] (7) In the above (6), the setting device may further include an identification unit that identifies an object whose moving direction is indefinite based on the multiple detection results acquired by the acquisition unit from the radio wave sensor, and the determination unit may determine the boundary line based on the position of the object identified by the identification unit. Pedestrians waiting to cross a crosswalk tend to stop in a fixed position or frequently change their moving direction. Therefore, an object whose moving direction is indefinite (i.e., indefinite) is likely to be a pedestrian waiting to cross a crosswalk. Therefore, the boundary line between the first area and the second area can be accurately determined based on the position of the object whose moving direction is indefinite.

[0020] (8) In the above (7), the determining unit may determine the position of the boundary line based on the position of the object identified by the identifying unit. A pedestrian waiting to cross a crosswalk is likely to remain in the second area. Therefore, the position of the boundary line between the first area and the second area can be accurately determined based on the position of an object whose moving direction is uncertain.

[0021] (9) In any one of (1) to (8) above, the setting device may further include a display control unit that causes a display device to display the boundary line determined by the determination unit and the movement trajectory of the object generated by the generation unit, thereby allowing a user to confirm whether the boundary line has been accurately determined based on the movement trajectory.

[0022] (10) A radio wave sensor according to this embodiment includes a transceiver that transmits radio waves to an area including a crosswalk and receives reflected waves of the radio waves from an object, a detector that detects the position of an object moving across the crosswalk based on the reflected waves received by the transceiver, a generator that generates a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the position of the object, and a determiner that determines a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object, wherein the detection area includes a first area including the crosswalk, and the determiner determines a boundary line between the first area and a second area where pedestrians are to wait to cross the crosswalk based on a movement trajectory of a vehicle traveling on a first roadway that partially overlaps with the crosswalk. The boundary line between the first area and the second area can be accurately determined based on the movement trajectory that follows the boundary line between the first area included in the roadway and the second area included in the sidewalk.

[0023] (11) In the above (10), the detection area may further include a second area. With this configuration, the boundary line between the first area and the second area can be determined more accurately.

[0024] (12) A radio wave sensor setting method according to this embodiment includes the steps of: acquiring a detection result of an object moving across a crosswalk by the radio wave sensor; generating a movement trajectory of the object in a coordinate space set in the radio wave sensor based on the detection result; and determining a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object, wherein the detection area includes a first area that includes the crosswalk, and the determining step includes determining a boundary line between the first area and a second area where pedestrians wait to cross the crosswalk based on a movement trajectory of a vehicle traveling on a first roadway that partially overlaps with the crosswalk. The boundary line between the first area and the second area can be accurately determined based on the movement trajectory that follows the boundary line between the first area included in the roadway and the second area included in the sidewalk.

[0025] (13) In the above (12), the detection area may further include the second area. This method makes it possible to more accurately determine the boundary line between the first area and the second area.

[0026] (14) A computer program according to this embodiment is a computer program for setting up 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 the crosswalk by the radio wave sensor; generating a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; and determining a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object, wherein the detection area includes a first area that includes the crosswalk, and the determining step includes determining a boundary line between the first area and a second area where pedestrians wait to cross the crosswalk based on a movement trajectory of a vehicle traveling on a first roadway that partially overlaps with the crosswalk. The boundary line between the first area and the second area can be accurately determined based on the movement trajectory that follows the boundary line between the first area included in the roadway and the second area included in the sidewalk.

[0027] (15) In the above (14), the detection area may further include the second area. With this configuration, the boundary line between the first area and the second area can be determined more accurately.

[0028] In the present disclosure, a part or all of the radio wave sensor setting device can be configured as a semiconductor integrated circuit. In the present disclosure, a system including the radio wave sensor setting device can be configured.

[0029] [Details of the Embodiments of the Present Disclosure] Hereinafter, the 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.

[0030] [1. Infrastructure Radio Wave Sensor] See Figure 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 objects (pedestrians, bicycles, vehicles) on a crosswalk 20. The infrastructure radio wave sensor 10 is, for example, a millimeter-wave radar.

[0031] 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.

[0032] 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.

[0033] 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 the radio wave irradiation range 40 of the infrastructure radio wave sensor 10, and 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, the detection area 30 may be set to include the entire crosswalk 20. Note that the radio wave irradiation range 40 is a range in which an object reflects the radio waves radiated 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 radiate 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 radiate radio waves.

[0034] The crosswalk 20 is provided on a roadway 60 near an intersection 70. At the intersection 70, the roadway 60 intersects with a roadway 65. Sidewalks 63a and 63b are provided adjacent to the roadway 60. The roadway 60 includes incoming lanes 61a and 61b through which vehicles enter the intersection 70, and outgoing lanes 62a and 62b through which vehicles exit the intersection 70. Hereinafter, the direction of travel of vehicles in the incoming lanes 61a and 61b will be referred to as the "x1 direction." The direction of travel of vehicles in the outgoing lanes 62a and 62b will be referred to as the "x2 direction." The direction of travel of vehicles traveling from the lower left to the upper right in the drawing on the roadway 65 will be referred to as the "y1 direction," and the direction of travel of vehicles traveling from the upper right to the lower left in the drawing on the roadway 65 will be referred to as the "y2 direction."

[0035] The incoming lane 61a, which is close to the sidewalk 63a, is a lane for going straight and turning left. Vehicles traveling in the incoming lane 61a in the x1 direction either go straight through the intersection 70 or turn left (changing their direction of travel in the y1 direction) to enter the roadway 65. The incoming lane 61b, which is away from the sidewalk, is a lane for going straight and turning right. Vehicles traveling in the incoming lane 61b in the x1 direction either go straight through the intersection 70 or turn right (changing their direction of travel in the y2 direction) to enter the roadway 65. The outgoing lane 62a, which is close to the sidewalk, is used by vehicles traveling straight on the roadway 60 in the x2 direction to pass the intersection 70 and vehicles traveling on the roadway 65 in the y1 direction to turn left at the intersection 70. The exit lane 62b, which is away from the sidewalk, is used by vehicles traveling straight along the roadway 60 in the x2 direction and passing through the intersection 70, and by vehicles traveling along the roadway 65 in the y2 direction and turning right at the intersection 70.

[0036] FIG. 2 is a diagram showing an example of a detection area. The detection area 30 includes a zebra area 31, which is the area of ​​the crosswalk 20, and waiting areas 32a and 32b where pedestrians (including pedestrians and cyclists) crossing the crosswalk 20 wait to cross the crosswalk 20. The zebra area 31 is an example of a "first area." The waiting areas 32a and 32b are examples of a "second area." The waiting areas 32a and 32b are provided on both sides of the detection area 30 in the longitudinal direction (the width direction of the roadway 60). In the example of FIG. 2, the waiting area 32a is set on the sidewalk 63a adjacent to the incoming lane 61a. The waiting area 32b is set on the sidewalk 63b adjacent to the outgoing lane 62a. The waiting area 32a is an example of a "first waiting area." The waiting area 32b is an example of a "second waiting area."

[0037] At intersection 70, arc-shaped corner cuttings 61c and 62c are provided at the junction between roadway 60 and roadway 65. Specifically, corner cutting 61c is provided at the junction between incoming lane 61a and roadway 65, and corner cutting 62c is provided at the junction between outgoing lane 62a and roadway 65.

[0038] The crosswalk 20 is provided in a range from the straight portion of the roadway 60 to partway through the corner cuttings 61c and 62c. In other words, the crosswalk 20 includes a part of each of the corner cuttings 61c and 62c.

[0039] In the detection area 30, a boundary line 33a between the zebra area 31 and the waiting area 32a is set to a shape that follows the boundary line between the roadway 60 and the sidewalk 63a. In the detection area 30, a boundary line 33b between the zebra area 31 and the waiting area 32b is set to a shape that follows the boundary line between the roadway 60 and the sidewalk 63b. The boundary line 33a has a shape that follows the boundary line between the incoming lane 61a and the sidewalk 63a, and includes a straight portion parallel to the incoming lane 61a and an inclined portion corresponding to the corner cutting 61c. The boundary line 33b has a shape that follows the boundary line between the outgoing lane 62a and the sidewalk 63b, and includes a straight portion parallel to the outgoing lane 62a and an inclined portion corresponding to the corner cutting 62c.

[0040] Returning to FIG. 1 , a coordinate space for detecting objects is preset in the infrastructure radio wave sensor 10. Hereinafter, the inherent 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.

[0041] In order for the infrastructure radio wave sensor 10 to accurately detect an object on the crosswalk 20, it is necessary to accurately set a detection area 30 in the coordinate space of the unique coordinate system (hereinafter also referred to as the "unique coordinate space"). In this embodiment, a setting device determines the detection area 30 in the unique coordinate space of the infrastructure radio wave sensor 10.

[0042] 2. Hardware Configuration of Infrastructure Radio Wave Sensor] Referring to Fig. 3, the infrastructure radio wave sensor 10 includes a processor 101, a non-volatile memory 102, a volatile memory 103, a transmitter / receiver 104, and a communication interface (communication I / F) 107.

[0043] 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, a ROM (Read Only Memory), or the like. The non-volatile memory 102 stores a control program 110, which is a computer program, and data used to execute the control program 110. The functions of the infrastructure radio wave sensor 10 are realized when the control program 110 is executed by the processor 101. The control program 110 can be stored in a recording medium such as a flash memory, a ROM, or a CD-ROM. The processor 101 can detect the position (distance and azimuth) and speed of an object using the control program 110.

[0044] 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 the same processing as the control program 110.

[0045] The transmitting / receiving unit 104 includes a transmitting circuit 105 and a receiving circuit 106 .

[0046] The transmission circuit 105 includes a transmission antenna 105a. The number of transmission antennas 105a is not limited to one, and may be multiple. The transmission circuit 105 generates a modulated wave and transmits the generated modulated wave from the transmission antenna 105a. The transmitted modulated wave hits an object (e.g., a pedestrian, a bicycle, or a vehicle) and is reflected.

[0047] The receiving circuit 106 includes a receiving antenna 106a. Multiple (four in the figure) receiving antennas 106a are provided to detect the azimuth angle of an object. The receiving circuit 106 performs signal processing on the received reflected waves. The reflected wave data generated by the signal processing is provided to the processor 101. The processor 101 analyzes the reflected wave data to detect the position (distance and azimuth angle) and speed of the object.

[0048] The communication I / F 107 can communicate with an external device. The communication I / F 107 is connected to the setting device 200 (see FIG. 4) via a cable and can transmit detection result data to the setting device 200. The communication I / F 107 is a wireless communication interface and may be able to communicate with the setting device 200 wirelessly.

[0049] The nonvolatile memory 102 stores setting information 111 for the detection area 30. The setting information 111 includes position information of the detection area 30 in the unique coordinate space.

[0050] 4 is a block diagram showing an example of the hardware configuration of a setting device according to an embodiment. The setting device 200 according to this embodiment is used to set the detection area 30 of the infrastructure radio wave sensor 10. The setting device 200 includes a processor 201, a non-volatile memory 202, a volatile memory 203, an input / output interface (I / O) 204, a graphics controller 205, and a communication interface (communication I / F) 206. The setting device 200 further includes an input device 211 and a display device 212. Note that at least one of the input device 211 and the display device 212 may be an external device connected to the setting device 200.

[0051] The volatile memory 203 is, for example, a semiconductor memory such as an SRAM or a DRAM. The non-volatile memory 202 is, for example, a flash memory, a hard disk, a ROM, or the like. The non-volatile memory 202 stores a setting program 210, which is a computer program, and data used to execute the setting program 210. The functions of the setting device 200 are realized when the setting program 210 is executed by the processor 201. The setting program 210 can be stored in a recording medium such as a flash memory, a ROM, or a CD-ROM. The processor 201 determines the detection area 30 of the infrastructure radio wave sensor 10 using the setting program 210.

[0052] The processor 201 is, for example, a CPU. However, the processor 201 is not limited to a CPU. The processor 201 may also be a GPU. The processor 201 may also be, for example, an ASIC, or a programmable logic device such as a gate array or FPGA. In this case, the ASIC or programmable logic device is configured to be able to execute the same processing as the setting program 210.

[0053] For example, the input device 211 includes a keyboard and a pointing device such as a mouse. The input device 211 may be a capacitive or pressure-sensitive touchpad overlaid on the screen of the display device 212. The input device 211 is used to input data to the setting device 200. The input / output interface 204 is connected to the input device 211. The input / output interface 204 receives input data from the input device 211 and provides the received data to the processor 201.

[0054] The display device 212 includes, for example, a liquid crystal panel or an OEL (organic electroluminescence) panel. The display device 212 can display text or graphic information. The graphics controller 205 is connected to the display device 212 and controls the display on the display device 212. The graphics controller 205 includes, for example, a GPU and a VRAM (Video RAM), stores data to be displayed on the display device 212 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 212, and the video is displayed on the display device 212. The function of the graphics controller 205 may be included in the processor 201. A portion of the area of ​​the volatile memory 203 may be used as the VRAM.

[0055] The communication I / F 206 can communicate with external devices. For example, the communication I / F 206 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 206 may be a wireless communication interface and can communicate with the infrastructure radio wave sensor 10 wirelessly. The communication I / F 206 may be able to communicate with the infrastructure radio wave sensor 10 via a wide area communication network.

[0056] 5 is referred to. When the processor 101 executes the control program 110, the infrastructure radio wave sensor 10 functions as a detection unit 121, a tracking unit 122, an output unit 123, and an input unit 124. When the processor 201 executes the setting program 210, the setting device 200 functions as an acquisition unit 221, a generation unit 222, an identification unit 223, a determination unit 224, a display control unit 225, and a setting unit 226.

[0057] The detection unit 121 detects the position and speed of an object based on the reflected waves that are generated when radio waves are irradiated onto the object and reflected by the object.

[0058] Specifically, the detection unit 121 generates reflected wave data that indicates information including the signal level of the reflected wave for each position irradiated with the radio wave. The transmission circuit 105 transmits a transmission signal, which is a modulated wave, from the transmission antenna 105a. The transmission signal from the transmission antenna 105a hits an object and is reflected. The receiving antenna 106a receives the reflected wave from the object. The detection unit 121 combines the modulated wave signal output from the transmission circuit 105 with the reflected wave signal output from the receiving circuit 106 to generate an intermediate frequency signal (hereinafter referred to as an "IF signal"). The detection unit 121 performs a fast Fourier transform (FFT) on the IF signal to obtain information on distance, speed, and azimuth angle. The detection unit 121 generates reflected wave data based on the obtained distance and azimuth angle information.

[0059] The detection unit 121 extracts reflection points, which are peak points included in the reflected wave data. The reflected wave data includes data indicating the waveform of the reflected wave for distance and data indicating the waveform of the reflected wave for angle. The detection unit 121 extracts peak points from each of the waveform of the reflected wave for distance and the waveform of the reflected wave for angle. The detection unit 121 determines the reflection points by associating the peak points in the reflected wave for distance with the peak points in the reflected wave for angle.

[0060] Radio waves emitted from the infrastructure radio wave sensor 10 may be reflected by multiple objects simultaneously. The detection unit 121 groups reflection points on the same object. The detection unit 121 identifies the position of the object based on the reflected waves received by the receiving antenna 106a. The position of the object is expressed as coordinate values ​​in an intrinsic coordinate system. Specifically, the detection unit 121 determines a representative value of the reflection points belonging to the same group and sets the determined representative value as the position of the object. For example, the representative value is the center of gravity. However, the position of the object may also be a representative value other than the center of gravity of the multiple reflection points. For example, the representative value may be the average value of the reflection points or the median value of the reflection points.

[0061] A transmission signal (chirp) is transmitted from the transmitting antenna 105a at regular intervals. A moving object reflects the transmission signal at two different points, and the receiving antenna 106a receives each reflected wave. The detection unit 121 detects the speed of the moving object from the phase difference between multiple IF signals obtained from the object.

[0062] The tracking unit 122 tracks the detected objects. Specifically, the tracking unit 122 assigns an ID to each object detected by the detection unit 121. The detection unit 121 outputs the detection results of the object's position and speed at regular time intervals. The tracking unit 122 identifies the currently detected objects that are the same as the previously detected object. For example, the tracking unit 122 estimates the current position of object a based on the previous movement direction and speed of object a. Among the currently detected objects, the tracking unit 122 identifies the object closest to the position estimated from the previous movement direction and speed of object a as object a. An object identified as the same as the previously detected object inherits the ID of the previously detected object.

[0063] The output unit 123 outputs the object detection result obtained by the infrastructure radio wave sensor 10. The detection result includes the object's position (distance and azimuth), speed, ID, and time information indicating the detection time. The output unit 123 outputs the object detection result at regular time intervals.

[0064] The acquisition unit 221 acquires the object detection results output from the infrastructure radio wave sensor 10. The acquisition unit 221 acquires the detection results at regular time intervals.

[0065] The acquisition unit 221 accumulates the acquired object detection results. Specifically, the acquisition unit 221 registers the acquired detection results in a database (not shown) provided in the non-volatile memory 102. As a result, the detection results are accumulated in the database.

[0066] The generation unit 222 generates a movement trajectory of the object in the unique coordinate space based on the detection result acquired by the acquisition unit 221 .

[0067] 6 is referred to. Movement trajectory 321A extending in the longitudinal direction of crosswalk 20 (a direction perpendicular to roadway 60 on which crosswalk 20 is provided) is, for example, the movement trajectory of a pedestrian crossing crosswalk 20. Movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D extending in the width direction of crosswalk 20 (the direction of roadway 60 on which crosswalk 20 is provided) are, for example, the movement trajectories of vehicles traveling on roadway 60. Movement trajectories 320A and 320B existing near both ends of movement trajectory 321A are the movement trajectories of pedestrians or cyclists waiting in waiting areas 32a and 32b to cross crosswalk 20.

[0068] The movement trajectory 321A of a moving pedestrian may include the movement trajectories 320A and 320B of a waiting pedestrian. When a pedestrian who has been waiting in the waiting areas 32a and 32b starts to cross the crosswalk 20, the movement trajectory 321A of a passing pedestrian continues to the movement trajectories 320A and 320B of the waiting pedestrian. In this case, the generation unit 222 can separate the movement trajectories 320A and 320B of the passing pedestrian from the movement trajectory 321A of the waiting pedestrian based on the detected position of an object included in the movement trajectories.

[0069] Vehicle movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D include movement trajectories 311A, 311B, 311C, and 311D of vehicles going straight through intersection 70 and movement trajectories 312A, 312B, 312C, and 312D of vehicles turning right or left at the intersection.

[0070] Movement trajectory 311A ​​is the movement trajectory of a vehicle traveling straight through the intersection 70 in the x1 direction in the incoming lane 61a. Movement trajectory 311B is the movement trajectory of a vehicle traveling straight through the intersection 70 in the x1 direction in the incoming lane 61b. Movement trajectory 311C is the movement trajectory of a vehicle traveling straight through the intersection 70 in the x2 direction in the outgoing lane 62a. Movement trajectory 311D is the movement trajectory of a vehicle traveling straight through the intersection 70 in the x2 direction in the outgoing lane 62b.

[0071] Movement trajectory 312A is the movement trajectory of a vehicle traveling on the incoming lane 61a in the x1 direction, turning left at the intersection 70 and entering the roadway 65. Movement trajectory 312B is the movement trajectory of a vehicle traveling on the incoming lane 61b in the x1 direction, turning right at the intersection 70 and entering the roadway 65. Movement trajectory 312C is the movement trajectory of a vehicle traveling on the roadway 65 in the y2 direction, turning right at the intersection 70 and entering the outgoing lane 62b. Movement trajectory 312D is the movement trajectory of a vehicle traveling on the roadway 65 in the y1 direction, turning left at the intersection 70 and entering the outgoing lane 62a.

[0072] The infrastructure radio wave sensor 10 outputs detection results 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. For example, movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, 312D, 320A, 320B, and 321A are configured by a collection of positions (coordinates) of the same object at each time. In another example, the generation unit 222 may configure movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, 312D, 320A, 320B, and 321A as lines by connecting positions arranged in chronological order with lines.

[0073] 5 , the identification unit 223 identifies movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D of vehicles traveling on the roadway 60 from the movement trajectories generated by the generation unit 222. The identification unit 223 identifies movement trajectories 321A of a pedestrian passing through the crosswalk 20 from the movement trajectories generated by the generation unit 222. The identification unit 223 identifies movement trajectories 320A and 320B of pedestrians waiting to pass through the crosswalk 20 in the waiting areas 32a and 32b from the movement trajectories generated by the generation unit 222.

[0074] For example, the identification unit 223 can distinguish between the movement trajectories 321A, 320A, and 320B of pedestrians and the movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D of vehicles based on the movement speed of the objects.

[0075] For example, the identification unit 223 distinguishes between movement trajectories 321A of pedestrians crossing a crosswalk, movement trajectories 320A and 320B of pedestrians waiting to cross a crosswalk, and movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D of vehicles.

[0076] For example, the identification unit 223 groups trajectories that face roughly the same direction. As a result, for example, trajectory 321A is grouped, and trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D are grouped. Hereinafter, the group of trajectories 321A will be referred to as "group A." The group of trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D will be referred to as "group B." In identifying groups A and B, the identification unit 223 can also use the movement speed of the object in addition to the direction of the trajectory.

[0077] The identification unit 223 determines the movement direction of each of groups A and B. For example, for group A of pedestrian movement trajectories, the identification unit 223 extracts the direction of the straight-line portions of each of movement trajectories 320A, 320B, and 321A, and calculates the average value of the extracted directions. The calculated average value is set as the representative direction AD1 of group A (see FIG. 6 ). For group B of vehicle movement trajectories, the identification unit 223 extracts the direction of the straight-line portions of each of movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, and 312D, and calculates the average value of the extracted directions. The calculated average value is set as the representative direction AD2 of group B (see FIG. 6 ).

[0078] The infrastructure radio wave sensor 10 is installed so that the angle formed between the radio wave emission direction 450 of the infrastructure radio wave sensor 10 and the y1 direction, which is the longitudinal direction of the crosswalk 20, is small. For example, the angle ψ formed between the radio wave emission direction 450 and the longitudinal direction of the crosswalk 20 is set to be −45°<ψ<45°. Therefore, the angle θ1 formed between the representative direction AD1 of group A and the radio wave emission direction 450 is smaller than the angle θ2 formed between the representative direction AD2 of group B and the radio wave emission direction 450. The identification unit 223 compares the angle θ1 formed between the representative direction AD1 of group A and the radio wave emission direction 450 with the angle θ2 formed between the representative direction AD2 of group B and the radio wave emission direction 450. The identification unit 223 identifies group A, which corresponds to the smaller angle θ1, as the group of movement trajectories of pedestrians crossing the crosswalk 20, and identifies group B, which corresponds to the larger angle θ2, as the group of movement trajectories of vehicles.

[0079] The identification unit 223 groups the linear trajectories 311A, 311B, 311C, and 311D of the trajectories of group B, and groups the curved trajectories 312A, 312B, 312C, and 312D. This grouping is performed based on the shapes of the trajectories. Hereinafter, the group of trajectories 311A, 311B, 311C, and 311D will be referred to as "group B1," and the group of trajectories 312A, 312B, 312C, and 312D will be referred to as "group B2." Group B1 is a group of trajectories of vehicles traveling straight through the intersection 70. Group B2 is a group of trajectories of vehicles turning right or left at the intersection 70.

[0080] The identification unit 223 identifies a movement trajectory 312A of a vehicle in group B2 that travels on the roadway 65 in the y1 direction and turns left at the intersection 70 to enter the exit lane 62a. The identification unit 223 identifies a movement trajectory 312B of a vehicle that travels on the roadway 65 in the y2 direction and turns right at the intersection 70 to enter the exit lane 62b. The identification unit 223 identifies a movement trajectory 312C of a vehicle that travels on the incoming lane 61b in the x1 direction and turns right at the intersection 70 to enter the roadway 65. The identification unit 223 identifies a movement trajectory 312D of a vehicle that travels on the incoming lane 61b in the x1 direction and turns left at the intersection 70 to enter the roadway 65. The movement trajectories 312A, 312B, 312C, and 312D are identified using the positions and movement directions of the movement trajectories.

[0081] Furthermore, the identification unit 223 identifies the movement trajectories of pedestrians waiting to cross the crosswalk. Specifically, the identification unit 223 identifies movement trajectories with an indefinite movement direction (i.e., movement trajectories that show little movement or frequent changes in movement direction). For example, the identification unit 223 identifies the movement trajectories of objects that have been present in a certain area (the area around both ends of the movement trajectory 321A) for a certain period of time. As a result, movement trajectories 320A and 320B are identified. Hereinafter, the group of movement trajectories 320A and 320B is referred to as "group C." The movement trajectories 320A and 320B are movement trajectories of pedestrians waiting in an area for waiting to cross the crosswalk 20. Therefore, the movement trajectories 320A and 320B are a set of positions of objects detected by the infrastructure radio wave sensor 10 in the certain area (the area for waiting to cross the crosswalk 20).

[0082] The determination unit 224 determines a detection area in the unique coordinate space based on the movement trajectory of the object generated by the generation unit 222. For example, the determination unit 224 can determine the detection area based on group A, group B1, group B2, and group C identified by the identification unit 223.

[0083] Of the multiple lines that define the detection area (hereinafter referred to as "definition lines"), the determination unit 224 determines definition lines that run along the longitudinal direction of the crosswalk 20 based on group A. FIG. 7 is a diagram illustrating an example of determining definition lines that run along the longitudinal direction of the crosswalk. The definition lines that run along the longitudinal direction of the crosswalk 20 are the lines on both sides of the detection area in the width direction. Hereinafter, the definition lines that run along the longitudinal direction of the crosswalk 20 will be referred to as the "first definition line 410A" and the "second definition line 410B."

[0084] The determination unit 224 determines the first definition line 410A and the second definition line 410B as lines extending in the representative direction AD1 of the trajectories 321A belonging to group A, for example. Furthermore, the determination unit 224 determines the positions of the first definition line 410A and the second definition line 410B based on, for example, the range in which the trajectories 321A belonging to group A are distributed. In a specific example, the determination unit 224 may determine the position of the first definition line 410A based on the trajectory located at the rightmost position in group A. The determination unit 224 may determine the position of the second definition line 410B based on the trajectory located at the leftmost position in group A.

[0085] For example, the determination unit 224 can determine the first definition line 410A and the second definition line 410B as lines extending in the representative direction AD1 obtained from group A. In other words, the determination unit 224 can determine the first definition line 410A and the second definition line 410B as straight lines inclined by θ1 with respect to the radio wave irradiation direction 450.

[0086] The determination unit 224 provisionally places definition lines along the width direction of the crosswalk 20 in the unique coordinate space based on the group B1. See FIG. 8 . The definition lines along the width direction of the crosswalk 20 include lines on both sides of the detection area 400 in the longitudinal direction and the boundary lines between the zebra area 401 and the waiting areas 402A and 402B. The definition lines on both sides of the detection area 400 in the longitudinal direction are referred to as the "third definition line" and the "fourth definition line." The boundary line between the zebra area 401 and the waiting area 402A is referred to as the "first boundary line." The boundary line between the zebra area 401 and the waiting area 402B is referred to as the "second boundary line."

[0087] The determination unit 224 provisionally determines the third definition line 430A and the fourth definition line 430B and the first boundary line 420A and the second boundary line 420B as straight lines extending in the representative direction AD2 of the movement trajectories 311A, 311B, 311C, and 311D belonging to group B1, for example. The positions and shapes of the provisionally determined third definition line 430A and the fourth definition line 430B and the first boundary line 420A and the second boundary line 420B may be changed in later processing.

[0088] The third definition line 430A and the fourth definition line 430B are tentatively determined as straight lines parallel to each other. The first boundary line 420A and the second boundary line 420B are tentatively determined as straight lines parallel to each other.

[0089] The determination unit 224 provisionally determines the positions of the third definition line 430A, the fourth definition line 430B, and the first boundary line 420A and the second boundary line 420B, for example, based on the distribution range of the movement trajectories 311A, 311B, 311C, and 311D belonging to group B1. In a specific example, the determination unit 224 can provisionally determine the positions of the first boundary line 420A and the third definition line 430A based on the position of the movement trajectory 311A ​​of a vehicle in group B1 moving in lane 61a. For example, the provisional position of the third definition line 430A can be a position a predetermined distance away from the first boundary line 420A. The determination unit 224 can provisionally determine the positions of the second boundary line 420B and the fourth definition line 430B based on the position of the movement trajectory 311D of a vehicle in group B1 moving in lane 61a. For example, the tentative position of the fourth definition line 430B can be set to a position spaced a predetermined distance from the second boundary line 420B.

[0090] The determination unit 224 determines the first boundary line and the second boundary line based on the trajectories 312A, 312B, 312C, and 312D belonging to group B2. In a specific example, the determination unit 224 determines the shapes of the first boundary line and the second boundary line based on the trajectories 312A, 312B, 312C, and 312D belonging to group B2. In other words, the determination unit 224 modifies the shapes of the tentatively determined first boundary line and second boundary line based on the trajectories 312A, 312B, 312C, and 312D belonging to group B2.

[0091] 9 is referred to. For example, the determination unit 224 determines the first boundary line based on a movement trajectory 312A of a vehicle turning left into the incoming lane 61a and entering the roadway 65. The movement trajectory 312A is an example of a "first movement trajectory."

[0092] Specifically, the determination unit 224 determines the radius of curvature and the center position of the curved portion of the movement trajectory 312A. For example, the determination unit 224 determines a representative trajectory that represents the movement trajectory 312A. The representative trajectory is, for example, an average movement trajectory of the multiple movement trajectories 312A. The determination unit 224 calculates an arc that approximates the curved portion of the representative trajectory, and sets the radius of the arc as the radius of curvature of the movement trajectory 312A. The determination unit 224 also sets the center of the calculated arc as the center position of the movement trajectory 312A.

[0093] The determination unit 224 determines the shape of the first boundary line 421A based on the radius of curvature and the center position of the movement trajectory 312A. In a specific example, the determination unit 224 determines the angle of the inclined portion 421a of the first boundary line 421A based on the center position of the movement trajectory 312A, and determines the position of the inclined portion 421a of the first boundary line 421A based on the radius of curvature of the movement trajectory 312A. For example, the position of the inclined portion 421a can be determined so that the greater the radius of curvature, the farther it is from the center position.

[0094] For example, the determination unit 224 can determine the shape of the first boundary line 421A based further on the movement trajectory 312B of a vehicle turning right from the incoming lane 61b and entering the roadway 65. In a specific example, the determination unit 224 determines the radius of curvature and the center position of the curved portion of the movement trajectory 312B. The determination unit 224 calculates the average value of the radii of curvature of the movement trajectories 312A and 312B. The determination unit 224 calculates the average value of the center positions of the movement trajectories 312A and 312B. The determination unit 224 may determine the angle of the inclined portion 421a based on the calculated average value of the center positions. The determination unit 224 may determine the position of the inclined portion 421a based on the calculated average value of the radii of curvature.

[0095] For example, the determination unit 224 determines the second boundary line 421B based on a movement trajectory 312D of a vehicle turning left from the roadway 65 and entering the exit lane 62a. In a specific example, the movement trajectory 312D is an example of a "second movement trajectory." The determination unit 224 determines the shape of the second boundary line 421B based on the radius of curvature and the center position of the movement trajectory 312D. Note that the determination of the shape of the second boundary line 421B using the radius of curvature and the center position is similar to the determination of the shape of the first boundary line 421A. That is, the determination unit 224 can determine the angle and position of the inclined portion 421b of the second boundary line 421B.

[0096] The determination unit 224 determines the first boundary line and the second boundary line further based on the trajectories 320A and 320B belonging to group C. Fig. 10 is a diagram illustrating an example of determining the positions of the first boundary line and the second boundary line.

[0097] In a specific example, the determination unit 224 determines the positions of the first boundary line and the second boundary line based on the trajectories 320A and 320B belonging to group C. In other words, the determination unit 224 corrects the positions of the tentatively determined first boundary line and second boundary line based on the trajectories 320A and 320B belonging to group C.

[0098] For example, the determination unit 224 calculates the average value of multiple positions included in the trajectories 320A belonging to group C. The determination unit 224 determines the position of the first boundary line 422A based on the calculated average position. For example, an offset amount of the first boundary line from the average position of the trajectories 320A belonging to group C is determined in advance. The determination unit 224 can determine a position that is away from the average position of the trajectories 320A belonging to group C by the offset amount as the position of the first boundary line 422A.

[0099] The determination unit 224 shifts the first boundary line 422A from the provisionally determined position to the position determined by the determination unit 224 in the intrinsic coordinate space. In one example, the third definition line 431A is positioned at a predetermined distance from the first boundary line 422A. Therefore, the determination unit 224 shifts the third definition line 431A from the provisionally determined position by the same amount and direction as the first boundary line 422A. Similarly, the determination unit 224 determines the positions of the second boundary line 422B and the fourth definition line 431B based on the average position of the movement trajectories 320B belonging to group C. In this manner, the detection area 400 is determined by the determination unit 224.

[0100] Returning to Figure 5, if a central reservation strip 25 is provided at the crosswalk 20, the determination unit 224 may determine the central reservation strip area as a sub-area of ​​the detection area 400 based on the movement trajectory of a vehicle traveling on the roadway 60.

[0101] 11 is a diagram illustrating an example of determining a median strip area. The median strip area 440 is located midway along the longitudinal direction of the detection area 400 and divides the zebra area into a first zebra area 401A and a second zebra area 401B. That is, the median strip area 440 is located between the first zebra area 401A and the second zebra area 401B.

[0102] For example, the determination unit 224 determines a third boundary line 440A that is the boundary line between the median strip area 440 and the first zebra area 401A, and a fourth boundary line 440B that is the boundary line between the median strip area 440 and the second zebra area 401B. More specifically, the determination unit 224 determines the positions of the third boundary line 440A and the fourth boundary line 440B based on the movement trajectories 311A, 311B, 311C, and 311D that belong to group B1. The third boundary line 440A and the fourth boundary line 440B are straight lines that are parallel to the third definition line 431A and the fourth definition line 431B.

[0103] In a specific example, the determination unit 224 can determine the position of the third boundary line 440A based on the movement trajectory 311B of the vehicle traveling straight in the incoming lane 61b, and can determine the position of the fourth boundary line 440B based on the movement trajectory 311C of the vehicle traveling straight in the outgoing lane 62b. For example, the determination unit 224 can place the third boundary line 440A and the fourth boundary line 440B at a certain interval in the center between the movement trajectory 311B of the vehicle traveling in the incoming lane 61b and the movement trajectory 311C of the vehicle traveling in the outgoing lane 62b.

[0104] The determination unit 224 may determine the positions of the third boundary line 440A and the fourth boundary line 440B based on group B2 instead of or in addition to group B1. Specifically, the determination unit 224 may determine the position of the third boundary line 440A based on a movement trajectory 312B of a vehicle turning right from the incoming lane 61b and entering the roadway 65. The determination unit 224 may determine the position of the fourth boundary line 440B based on a movement trajectory 312C of a vehicle turning right from the roadway 65 and entering the outgoing lane 62b.

[0105] 5 , the display control unit 225 causes the display device 212 to display the first boundary line 422A and the second boundary line 422B determined by the determination unit 224 and the movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, 312D, 320A, 320B, and 321A of the object generated by the generation unit 222. More specifically, the display control unit 225 causes the detection area 400 determined by the determination unit 224 and the movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, 312D, 320A, 320B, and 321A of the object generated by the generation unit 222 in a superimposed manner.

[0106] 12 is referred to. The confirmation screen 500 is a screen for the user to confirm the detection area 400 determined by the setting device 200. The confirmation screen 500 displays the detection area 400 and the movement trajectories 311A, 311B, 311C, 311D, 312A, 312B, 312C, 312D, 320A, 320B, and 321A superimposed on each other. This allows the user to confirm whether the shape and position of the determined detection area 400 are appropriate.

[0107] For example, the user can use the input device 211 to input approval or rejection of the displayed detection area 400 to the setting device 200. The rejected detection area 400 is discarded.

[0108] 5 , the setting unit 226 sets the approved detection area 400 in the infrastructure radio wave sensor 10. Specifically, the setting unit 226 generates setting information 111 indicating the approved detection area 400 and outputs the generated setting information 111 to the infrastructure radio wave sensor 10.

[0109] The input unit 124 receives the setting information 111 output from the setting device 200. The input unit 124 stores the received setting information 111 in the non-volatile memory 102. As a result, the detection area 400 is set in the infrastructure radio wave sensor 10.

[0110] 5. Setting Operations of Infrastructure Radio Wave Sensor and Setting Device Hereinafter, the operations of the infrastructure radio wave sensor 10 and the setting device 200 for setting a detection area in the infrastructure radio wave sensor 10 will be described.

[0111] FIG. 13 is a flowchart illustrating an example of the operation of the infrastructure radio wave sensor according to the embodiment.

[0112] When the processor 101 starts the control program 110, the infrastructure radio wave sensor 10 executes the processing described below.

[0113] The transmitting circuit 105 generates a modulated wave and transmits the generated modulated wave from the transmitting antenna 105a. The transmitted modulated wave hits an object (pedestrian, bicycle, vehicle), and the reflected wave from the object is received by the receiving antenna 106a. The receiving circuit 106 processes the reflected wave signal and generates reflected wave data. The processor 101 receives the reflected wave data (step S101).

[0114] The processor 101 analyzes the reflected wave data to detect reflection points, groups reflection points on the same object, and detects the position and speed of the object (step S102).

[0115] The processor 101 identifies the currently detected object that is the same as the previously detected object (step S103). The object identified as the same as the previously detected object inherits the ID of the previously detected object.

[0116] The processor 101 outputs the detection result including the position, speed, and ID of the object (step S104), and returns to step S101. As described above, the infrastructure radio wave sensor 10 outputs the detection result at regular intervals.

[0117] FIG. 14 is a flowchart illustrating an example of the operation of the setting device according to the embodiment.

[0118] When the processor 201 starts the setting program 210, the setting device 200 executes the processing described below.

[0119] The processor 201 acquires the detection results output from the infrastructure radio wave sensor 10 (step S201). The infrastructure radio wave sensor 10 continuously outputs the detection results, and the processor 201 accepts these detection results. The acquired detection results are stored in a database, and the detection results are accumulated.

[0120] The processor 201 generates a movement trajectory of the object from the detection result acquired from the infrastructure radio wave sensor 10 (step S202).

[0121] The processor 201 identifies each of the groups A, B1, B2, and C from the generated trajectories (step S203).

[0122] The processor 201 determines a first definition line 410A and a second definition line 410B of the detection area 400 based on the group A (step S204).

[0123] The processor 201 provisionally determines the third definition line 430A, the fourth definition line 430B, the first boundary line 420A, and the second boundary line 420B of the detection area 400 based on the group B1 (step S205).

[0124] The processor 201 determines the shapes of the first boundary line 421A and the second boundary line 421B based on the group B2 (step S206).

[0125] The processor 201 determines the positions of the first boundary line 422A, the second boundary line 422B, the third definition line 431A, and the fourth definition line 431B based on group C (step S207).

[0126] The processor 201 determines the positions of the third boundary line 440A and the fourth boundary line 440B based on the group B1 (step S208).

[0127] The processor 201 causes the display device 212 to display the determined detection area 400 and the object's movement path in a superimposed manner (step S209).

[0128] The user compares the position and shape of the displayed detection area 400 with the position and shape of the movement path, and determines whether the detection area 400 is appropriate. If the detection area 400 is appropriate, the user inputs approval of the detection area 400 to the setting device 200 using the input device 211. If the detection area 400 is inappropriate, the user inputs rejection of the detection area 400 to the setting device 200 using the input device 211 (step S210).

[0129] If the rejection of the detection area 400 is input (NO in step S210), the processor 201 ends the process.

[0130] If approval of the detection area 400 is input (YES in step S210), the processor 201 generates setting information 111 indicating the determined detection area 400 (step S211). The processor 201 outputs the generated setting information 111 to the infrastructure radio wave sensor 10 (step S212) and ends the processing. The infrastructure radio wave sensor 10 writes the input setting information 111 to the non-volatile memory 102. This completes the setting of the detection area in the infrastructure radio wave sensor 10.

[0131] 6. Modifications The infrastructure radio wave sensor may be provided with the functions for determining the detection area of ​​the setting device 200. Fig. 15 is a functional block diagram showing a modification of the functions of the infrastructure radio wave sensor according to the embodiment.

[0132] The infrastructure radio wave sensor 10A according to this modification has the functions of a generating unit 125, an identifying unit 126, a determining unit 127, and a setting unit 128 in addition to a detecting unit 121 and a tracking unit 122.

[0133] The generation unit 125 generates a movement trajectory of the object based on the detection result of the object to which the ID is assigned by the tracking unit 122. The detailed function of the generation unit 125 is the same as that of the generation unit 222, and therefore a description thereof will be omitted.

[0134] The identification unit 126 identifies each of the groups A, B1, B2, and C from the movement trajectories generated by the generation unit 125. The detailed functions of the identification unit 126 are the same as those of the identification unit 223, and therefore will not be described here.

[0135] The determination unit 127 determines a detection area in the unique coordinate space based on the movement trajectory of the object generated by the generation unit 125. The detailed function of the determination unit 127 is the same as that of the determination unit 224, and therefore a description thereof will be omitted.

[0136] The setting unit 128 sets the determined detection area in the infrastructure radio wave sensor 10A. Specifically, the setting unit 128 generates setting information 111 indicating the detection area 400 and stores the generated setting information 111 in the non-volatile memory 102.

[0137] According to the infrastructure radio wave sensor 10A of this modification, the setting device 200 is not required, and the detection area can be automatically determined and set.

[0138] The above-described function of the determination unit 224 is an example and is not limited thereto. For example, the determination unit 224 determined the positions of the first boundary line and the second boundary line based on group C, but is not limited thereto. For example, the determination unit 224 may determine the positions of the first boundary line and the second boundary line based on group B2. Specifically, based on a movement trajectory 312A of a vehicle in group B2 that turns left from the incoming lane 61a and enters the roadway 65, the determination unit 224 may determine the position of the first boundary line close to the movement trajectory 312A, and based on a movement trajectory 312D of a vehicle that turns left from the roadway 65 and enters the outgoing lane 62a, the determination unit 224 may determine the position of the second boundary line close to the movement trajectory 312D. As another example, the determination unit 224 may determine the positions of the first boundary line and the second boundary line based on group B2 and group C.

[0139] 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.

[0140] 10, 10A Infrastructure radio wave sensor 20 Crosswalk 30, 400 Detection area 31, 401 Zebra area 32a, 32b, 402A, 402B Waiting area 33a, 33b Boundary line 40 Radio wave irradiation range 50 Structure 51 Pole 52 Arm 63a, 63b Sidewalk 60, 65 Roadway 61a, 61b Entering lane 62a, 62b Exiting lane 61c, 62c Corner cutting 70 Intersection 101 Processor 102 Non-volatile memory 103 Volatile memory 104 Transmitting / receiving unit 105 Transmitting circuit 106 Receiving circuit 105a Transmitting antenna 106a Receiving antenna 107 Communication interface (communication I / F) 110 Control program 111 Setting information 121 Detection unit 122 Tracking unit 123 Output unit 124 Input unit 200 Setting device 201 Processor 202 Non-volatile memory 203 Volatile memory 204 Input / output interface (I / O) 205 Graphics controller 206 Communication interface (communication I / F) 210 Setting program 211 Input device 212 Display device 221 Acquisition unit 222, 125 Generation unit 223, 126 Identification unit 224, 127 Decision unit 225 Display control unit 226, 128 Setting unit 311A, 311B, 311C, 311D, 312A, 312B, 312C, 312D, 320A, 320B, 321A Movement trajectory 450 Radio wave irradiation direction 401A First zebra area 401B Second zebra area 410A First definition line 410B Second definition line 420A, 421A, 422A First boundary line 420B, 421B, 422B Second boundary line 421a, 421b Inclined portion 430A, 431A Third definition line 430B, 431B Fourth definition line 440 Central reservation area 440A Third boundary line 440B Fourth boundary line 500 Confirmation screen

Claims

1. an acquisition unit that acquires a detection result of an object moving on a crosswalk detected by a radio wave sensor; a generation unit that generates a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the detection result; a determination unit that determines a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object; Equipped with the detection area includes a first area including the crosswalk, the determination unit determines a boundary line between the first area and a second area where pedestrians are to wait to cross the crosswalk, based on a movement trajectory of a vehicle traveling on a first roadway that partially overlaps the crosswalk. Radio wave sensor setting device.

2. The detection area further includes the second area. The radio wave sensor setting device according to claim 1 .

3. the determination unit determines the boundary line based on a movement trajectory of a vehicle turning right or left at an intersection of the first roadway and a second roadway intersecting the first roadway. The radio wave sensor setting device according to claim 1 .

4. the determination unit determines the shape of the boundary line based on a movement trajectory of a vehicle turning right or left at the intersection. The radio wave sensor setting device according to claim 3.

5. the detection area includes, as the second area, a first waiting area adjacent to an incoming lane on the first roadway through which vehicles enter the intersection, and a second waiting area adjacent to an outgoing lane on the first roadway through which vehicles exit the intersection, The determination unit determining a first boundary line that is a boundary line between the first area and the first waiting area based on a first movement trajectory that is a movement trajectory of a vehicle that turns left or right on the incoming lane and enters the second roadway; determining a second boundary line that is a boundary line between the first area and the second waiting area based on a second movement trajectory that is a movement trajectory of a vehicle that turns left or right on the second roadway and enters the exit lane; The radio wave sensor setting device according to claim 3.

6. the determination unit determines the boundary line further based on a position of a pedestrian waiting to cross the crosswalk detected by the radio wave sensor. The radio wave sensor setting device according to any one of claims 1 to 5.

7. an identification unit that identifies an object whose moving direction is uncertain based on the plurality of detection results acquired by the acquisition unit from the radio wave sensor; the determination unit determines the boundary line based on the position of the object identified by the identification unit. The radio wave sensor setting device according to claim 6.

8. the determining unit determines a position of the boundary line based on the position of the object identified by the identifying unit. The radio wave sensor setting device according to claim 7.

9. the setting device further includes a display control unit that causes a display device to display the boundary line determined by the determination unit and the movement trajectory of the object generated by the generation unit. The radio wave sensor setting device according to any one of claims 1 to 5.

10. A radio wave sensor, a transceiver that transmits radio waves to an area including a crosswalk and receives the radio waves reflected by an object; a detection unit that detects the position of an object moving on a crosswalk based on the reflected wave received by the transmission / reception unit; a generation unit that generates a movement trajectory of the object in a coordinate space that is preset in the radio wave sensor based on the position of the object; a determination unit that determines a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object; Equipped with the detection area includes a first area including the crosswalk, the determination unit determines a boundary line between the first area and a second area where pedestrians are to wait to cross the crosswalk, based on a movement trajectory of a vehicle traveling on a first roadway that partially overlaps the crosswalk. Radio wave sensor.

11. The detection area further includes the second area. The radio wave sensor according to claim 10.

12. A step of obtaining a detection result of an object moving on a crosswalk by a radio wave sensor; generating a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; determining a detection area corresponding to the crosswalk in the coordinate space based on the movement trajectory of the object; Including, the detection area includes a first area including the crosswalk, the determining step includes determining a boundary line between the first area and a second area where pedestrians are to wait to cross the crosswalk, based on a movement trajectory of a vehicle traveling on a first roadway that partially overlaps the crosswalk. How to set up a radio wave sensor.

13. The detection area further includes the second area. The radio wave sensor setting method according to claim 12.

14. A computer program for setting a radio wave sensor that detects an object on a crosswalk, On the computer, A step of obtaining a detection result of an object moving on a crosswalk by a radio wave sensor; generating a movement trajectory of the object in a coordinate space preset in the radio wave sensor based on the detection result; determining a detection area corresponding to the pedestrian crossing in the coordinate space based on the movement trajectory of the object; the detection area includes a first area including the crosswalk, the determining step includes determining a boundary line between the first area and a second area where pedestrians are to wait to cross the crosswalk, based on a movement trajectory of a vehicle traveling on a first roadway that partially overlaps the crosswalk. Computer program.

15. The detection area further includes the second area.

15. A computer program according to claim 14.