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

Abstract

This radio wave sensor setting assistance device comprises: an acquisition unit that acquires the results of detecting, by a radio wave sensor, an object on a road; a first determination unit that determines, on the basis of the detection results acquired by the acquisition unit, an exclusion candidate area which is a candidate for an exclusion area to be excluded from a detection target of the radio wave sensor, and which is in a coordinate space set in the radio wave sensor; a display control unit that causes a display device to display the exclusion candidate area determined by the first determination unit; and a second determination unit that determines the exclusion candidate area displayed on the display device to be the exclusion area.

Description

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

[0001] This application claims priority from Japanese Patent Application No. 2023-115756, filed July 14, 2023, the disclosure of which is incorporated herein in its entirety.

[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 support device according to one aspect of the present disclosure includes an acquisition unit that acquires detection results of objects on a road by a radio wave sensor, a first determination unit that determines, in a coordinate space set in the radio wave sensor, a candidate exclusion area that is a candidate exclusion area to be excluded from the detection target of the radio wave sensor based on the detection results acquired by the acquisition unit, a display control unit that displays the candidate exclusion area determined by the first determination unit on a display device, and a second determination unit that determines the candidate exclusion area displayed on the display device as the candidate exclusion area.

[0005] FIG. 1 is a diagram illustrating an example of how an infrastructure radio wave sensor according to an embodiment is used. FIG. 2 is a perspective view illustrating an example of the external configuration of an infrastructure radio wave sensor according to an embodiment. FIG. 3 is a diagram illustrating an example of setting a detection area in a sensor coordinate system. FIG. 4 is a block diagram illustrating an example of the hardware configuration of a setting support device according to an embodiment. FIG. 5 is a functional block diagram illustrating an example of functions of the setting support device according to an embodiment. FIG. 6 is a diagram illustrating an example of determining an exclusion candidate area. FIG. 7 is a diagram illustrating a first example of an exclusion area setting screen. FIG. 8 is a diagram illustrating movement of icons on the exclusion area setting screen. FIG. 9 is a diagram illustrating a second example of an exclusion area setting screen. FIG. 10 is a diagram illustrating examples of correction values ​​for the size, speed range, and reception level range of an exclusion area. FIG. 11 is a diagram illustrating a third example of an exclusion area setting screen. FIG. 12 is a flowchart illustrating an example of an exclusion area setting support operation performed by the setting support device according to an embodiment. FIG. 13 is a diagram illustrating a modified example of the exclusion area setting screen.

[0006] <Problem to be Solved by the Present Disclosure> Stationary objects such as trees, traffic signals, utility poles, and traffic signs exist on roads. These stationary objects are detected by radio wave sensors and appear as noise in the detection results. Because noise affects detection accuracy, areas where stationary objects exist are set in the radio wave sensor as exclusion areas that exclude them from detection targets. However, setting the exclusion areas is a very cumbersome task.

[0007] Effect of the Present Disclosure According to the present disclosure, it is possible to assist in setting an exclusion area that is excluded from detection targets in a radio wave sensor.

[0008] <Outline of Embodiments of the Present Disclosure> Below, an outline of embodiments of the present disclosure will be listed and described.

[0009] (1) A radio wave sensor configuration assistance device according to this embodiment includes an acquisition unit that acquires detection results of objects on a road by the radio wave sensor, a first determination unit that determines, in a coordinate space set in the radio wave sensor, candidate exclusion areas that are candidates for exclusion areas to be excluded from detection targets of the radio wave sensor based on the detection results acquired by the acquisition unit, a display control unit that displays, on a display device, the candidate exclusion areas determined by the first determination unit, and a second determination unit that determines, as the exclusion candidate areas, the candidate exclusion areas displayed on the display device. This allows assistance in setting exclusion areas in the radio wave sensor.

[0010] (2) In the above (1), the second determination unit may determine the type of the exclusion area, thereby making it possible to determine the exclusion area according to the type of object to be excluded from detection targets (e.g., tree, traffic signal, utility pole, shrub, guardrail, traffic sign).

[0011] (3) In the above (2), the type may be a type designated by a user, thereby making it possible to determine the exact type of the exclusion area designated by the user for the exclusion area.

[0012] (4) In the above (3), the display control unit may cause the display device to display a plurality of images corresponding to a plurality of types of exclusion areas, and the second determination unit may accept, through an operation by the user to place the images in the candidate exclusion areas, the designation of the type for the exclusion area corresponding to the candidate exclusion area. This allows the user to easily designate the type for the exclusion area by placing, in the candidate exclusion area, an image of the type of exclusion area to be assigned to the candidate exclusion area.

[0013] (5) In any one of (2) to (4) above, the second determination unit may determine the size of the exclusion area according to the type of the exclusion area, thereby making it possible to determine an exclusion area of ​​an appropriate size according to the type of the exclusion area.

[0014] (6) In the above (5), the second determination unit may determine the size of the exclusion area corresponding to the exclusion candidate area by correcting an initial size assigned to the exclusion candidate area by a predetermined correction value for the type. In this way, by predetermining the correction value for each type, it is possible to determine an exclusion area of ​​an appropriate size according to the type of exclusion area.

[0015] (7) In any one of (1) to (6) above, the second determination unit may determine at least one of a speed range of the object to be excluded from the detection target and a range of a radio wave reception level of the radio wave sensor from the object to be excluded from the detection target, in association with the exclusion area. By setting such an exclusion area, the radio wave sensor can accurately determine whether the detected object is an object to be excluded from the detection target or an object to be detected (a vehicle or a pedestrian) using not only the position of the detected object but also at least one of the detection speed and the radio wave reception level.

[0016] (8) In the above (7), the second determination unit may determine a magnitude of at least one of the speed of the object and the radio wave reception level of the radio wave sensor from the object, depending on the type determined for the exclusion area. This makes it possible to appropriately determine the magnitude of at least one of the speed range and the radio wave reception level depending on the type of the exclusion area.

[0017] (9) In any one of (1) to (8) above, the first determination unit may determine the position of the candidate exclusion area within a set area that is determined based on a detection area set in the coordinate space that corresponds to a specific area on the road detected by the radio wave sensor. It is not necessary to set an exclusion area at a position that is more than a certain distance away from the detection area. Therefore, with the above configuration, the position of the exclusion area can be determined within a set area that is an appropriate area for setting an exclusion area.

[0018] (10) In any one of (1) to (9) above, a deletion unit may be further provided that deletes the exclusion candidate area in response to a user instruction, thereby allowing the user to delete an exclusion candidate area that is not suitable as an exclusion area.

[0019] (11) In any one of (1) to (10) above, the display control unit may cause the display device to display the exclusion candidate area together with a detection area set in the coordinate space that corresponds to a specific area on the road detected by the radio wave sensor, thereby allowing a user to easily confirm to which object in real space the exclusion candidate area corresponds, based on the relative position of the exclusion candidate area with respect to the detection area.

[0020] (12) In any one of (1) to (11) above, the acquisition unit may acquire the detection result in which the radio wave sensor detects an object on a road during a certain detection period, the detection result indicating reflection points on the object of radio waves irradiated from the radio wave sensor, and the first determination unit may group all of the reflection points detected during the detection period based on the positions of the reflection points in the coordinate space and determine the exclusion candidate area at the position of each group. When object detection is continuously performed by the radio wave sensor during a certain detection period, reflection points are continuously detected from stationary objects during the detection period. Therefore, a group is formed by multiple reflection points located near each other, and each group corresponds to a respective stationary object. Therefore, the position of each stationary object can be accurately determined as an exclusion area.

[0021] (13) A radio wave sensor setting support method according to the present embodiment includes the steps of: acquiring a detection result of an object on a road by the radio wave sensor; determining, in a coordinate space set in the radio wave sensor, a candidate exclusion area that is a candidate exclusion area to be excluded from detection targets of the radio wave sensor based on the acquired detection result; displaying the determined candidate exclusion area on a display device; and determining the candidate exclusion area displayed on the display device as the exclusion area. This allows support for setting an exclusion area in the radio wave sensor.

[0022] (14) 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 road, and causes a computer to execute the steps of: acquiring detection results of objects on a road by the radio wave sensor; determining, in a coordinate space set in the radio wave sensor, candidate exclusion areas that are candidates for exclusion areas to be excluded from detection targets of the radio wave sensor based on the acquired detection results; displaying the determined candidate exclusion areas on a display device; and determining the candidate exclusion areas displayed on the display device as the exclusion areas. This enables assistance in setting the exclusion areas in the radio wave sensor.

[0023] The present disclosure can be realized as a radio wave sensor setting support device having the above-mentioned characteristic configuration, as a radio wave sensor setting support method in which characteristic processing in the setting support device is performed as steps, or as a computer program for causing the setting support device to execute characteristic processing.It can also be realized as a semiconductor integrated circuit in part or in whole, or as a system that includes a radio wave sensor setting support device as part of it.

[0024] <Details of Embodiments of the Present Disclosure> Hereinafter, details of 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 is a diagram showing an example of use of an infrastructure radio wave sensor according to an embodiment. The infrastructure radio wave sensor 10 according to this embodiment is a radio wave radar for traffic monitoring, and 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, and the infrastructure radio wave sensor 10 is installed several meters above the ground. The structure 50 includes, for example, a pole 51 and an arm 52 provided near the top end of the pole 51, and the infrastructure radio wave sensor 10 is attached to the arm 52.

[0027] The infrastructure radio wave sensor 10 detects objects (e.g., pedestrians, bicycles) on the crosswalk 20 by emitting radio waves (millimeter waves) onto the crosswalk 20 and receiving the reflected waves. Specifically, the infrastructure radio wave sensor 10 is positioned so that a line (hereinafter also referred to as the "projection center axis") obtained by projecting a normal line of the transmission / reception surface 18a (see FIG. 2 ) that transmits and receives radio waves in the vertical direction onto the ground surface passes through the crosswalk 20. The infrastructure radio wave sensor 10 can detect the distance from the infrastructure radio wave sensor 10 to the object, the speed of the object (the speed in the linear direction connecting the infrastructure radio wave sensor 10 and the object; hereinafter also referred to as the "line-of-sight speed"), and the horizontal angle (azimuth angle) of the object's location relative to the projection center axis.

[0028] The infrastructure radio wave sensor 10 sets a detection area 30, which is a range on the road for detecting objects. The detection area 30 is set as part of a radio wave irradiation area 40 of the infrastructure radio wave sensor 10. In other words, the radio wave irradiation area 40 covers the detection area 30. The detection area 30 is, for example, an area that includes the entire crosswalk 20. Note that the radio wave irradiation area 40 is a range in which an object reflects 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, and does not 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 area 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] For example, the infrastructure radio wave sensor 10 is used to measure the number of pedestrians and bicycles (including riders; hereinafter, pedestrians and bicycles will be simply referred to as "pedestrians") crossing the crosswalk 20, or to control traffic signals installed at the crosswalk 20. The infrastructure radio wave sensor 10 is required to detect not only pedestrians on the crosswalk, but also pedestrians waiting to cross on the sidewalk adjacent to the crosswalk 20. For this reason, for example, the detection area 30 includes not only the area of ​​the crosswalk 20, but also an area on the sidewalk where pedestrians wait to cross. In other words, the detection area 30 is an area extending from the crosswalk 20 on both sides in the longitudinal direction of the crosswalk 20 (the direction in which pedestrians pass on the crosswalk).

[0030] FIG. 2 is a perspective view showing an example of the external configuration of the infrastructure radio wave sensor 10 according to the embodiment. As shown in FIG. 2, the infrastructure radio wave sensor 10 includes a housing 18 having a transmitting / receiving surface 18a on one surface for transmitting and receiving radio waves. The housing 18 houses a transmitting / receiving unit 14 and a detection circuit 17. The transmitting / receiving unit 14 includes a transmitting antenna 15a and multiple (e.g., four) receiving antennas 16a. The infrastructure radio wave sensor 10 transmits modulated waves, which are radio waves, from the transmitting antenna 15a through the transmitting / receiving surface 18a. The modulated waves hit an object and are reflected, and the receiving antenna 16a receives the reflected waves. The transmitting / receiving unit 14 and the detection circuit 17 perform signal processing on the transmitted wave signal and the received wave signal to detect the distance to the object, the line-of-sight velocity of the object, and the azimuth angle at which the object is located.

[0031] A coordinate space is set in the infrastructure radio wave sensor 10 to identify the position of an object. Hereinafter, the coordinate space set in the infrastructure radio wave sensor 10 is also referred to as the “sensor coordinate space.” The sensor coordinate space is a coordinate space unique to the infrastructure radio wave sensor 10.

[0032] In the infrastructure radio wave sensor 10, a detection area 30 is set in the sensor coordinate space in order to accurately detect an object on the crosswalk 20.

[0033] FIG. 3 is a diagram for explaining an example of setting a detection area in a sensor coordinate system.

[0034] 3, the point indicated by the reference symbol 31P is a point on the ground surface obtained by projecting vertically downward the installation position of the infrastructure radio wave sensor 10. The line indicated by the reference symbol 31Y is the projection center axis, and the line indicated by the reference symbol 31X is a line on the ground surface that intersects with the projection center axis 31Y at the point 31P.

[0035] For example, the sensor coordinate space is a virtual coordinate space set in the infrastructure radio wave sensor 10, and is a two-dimensional coordinate space corresponding to the earth's surface. The sensor coordinate space is defined by an X axis and a Y axis. The origin O of the sensor coordinate space corresponds to the real point 31P. The Y axis of the sensor coordinate space corresponds to the real projection center axis 31Y. The X axis of the sensor coordinate space corresponds to the real line 31X.

[0036] In the infrastructure radio wave sensor 10, a virtual detection area 300 corresponding to a detection area 30 in real space is set in the sensor coordinate space. The detection area 30 is an area that includes a crosswalk 20, for example.

[0037] The detection area 30 is divided into a zebra area 30A, which is the area of ​​the crosswalk 20, and waiting areas 30B and 30C, which are provided on both ends of the zebra area 30A. The waiting areas 30B and 30C are areas that extend from the zebra area 30A in the longitudinal direction (the direction of the projection center axis 31Y), and are areas where pedestrians on the sidewalk wait for the traffic light to change.

[0038] The detection area 300 in the sensor coordinate space is divided into a zebra area 300A and waiting areas 300B and 300C. The zebra area 300A corresponds to the zebra area 30A in the real space. The waiting area 300B corresponds to the waiting area 30B in the real space, and the waiting area 300C corresponds to the waiting area 30C in the real space.

[0039] Furthermore, in the infrastructure radio wave sensor 10, it is necessary to set an exclusion area that is excluded from detection targets in order to suppress noise caused by detection of stationary objects such as trees, shrubs, utility poles, traffic signals, guardrails, traffic signs, etc. In this embodiment, the setting assistance device 100 assists the user (operator) in setting the exclusion area in the sensor coordinate space of the infrastructure radio wave sensor 10.

[0040] 4 is a block diagram showing an example of the hardware configuration of a setting assistance device according to an embodiment. The setting assistance 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 assistance device 100 includes a processor 101, a non-volatile memory 102, a volatile memory 103, an input / output interface 104, a graphics controller 105, and a communication interface 106. The setting assistance 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 assistance device 100.

[0041] The volatile memory 103 is a semiconductor memory such as an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory). The non-volatile memory 102 is a flash memory, a hard disk, a ROM (Read Only Memory), or the like. 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 exclusion area of ​​the infrastructure radio wave sensor 10.

[0042] 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 an FPGA (Field Programmable Gate Array). In this case, the ASIC or programmable logic device is configured to be able to execute the same processing as the setting assistance program 107.

[0043] 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.

[0044] 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.

[0045] The communication interface 106 can communicate with an external device. For example, the communication interface 106 is connected to the infrastructure radio wave sensor 10 by a communication cable and can communicate with the infrastructure radio wave sensor 10. The communication interface 106 may be a wireless communication interface and can communicate with the infrastructure radio wave sensor 10 wirelessly.

[0046] 5 is a functional block diagram showing an example of the functions of the setting support device according to the embodiment. When the processor 101 executes the setting support program 107, the setting support device 100 functions as an acquisition unit 111, a first determination unit 112, a display control unit 113, a second determination unit 114, a deletion unit 115, and a setting unit 116.

[0047] 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 an exclusion area in the infrastructure radio wave sensor 10. The operation mode is an operation mode for detecting objects for traffic monitoring after the exclusion area has been set.

[0048] When setting an exclusion area, 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 exclusion area.

[0049] In the setting mode, the infrastructure radio wave sensor 10 detects an object to set an exclusion area. The infrastructure radio wave sensor 10 emits radio waves from the transmitting antenna 15a and receives reflected waves of the radio waves with the receiving antenna 16a. The infrastructure radio wave sensor 10 detects the position of the object based on the reflected waves received by the receiving antenna 16a.

[0050] Specifically, the transmitting antenna 15a transmits a modulated wave signal. The transmitting signal from the transmitting antenna 15a hits an object and is reflected. The receiving antenna 16a receives the reflected wave from the object. The detection circuit 17 combines the transmitted modulated wave signal with the received reflected wave signal to generate an intermediate frequency signal (hereinafter referred to as an "IF signal"). The detection circuit 17 performs a fast Fourier transform (FFT) on the IF signal to obtain information on distance, speed, and azimuth angle.

[0051] The detection circuit 17 identifies the position (coordinate value) of the peak point of the reflected wave (the maximum point of the signal level of the reflected wave; hereinafter, also referred to as the "reflection point") in the sensor coordinate space based on, for example, the acquired distance and azimuth angle information. The detection circuit 17 outputs the detection result including the coordinate value of the reflection point.

[0052] The acquisition unit 111 acquires the detection results of the infrastructure radio wave sensor 10 for objects on the road. In a specific example, the infrastructure radio wave sensor 10 in the setting mode detects objects on the road for a certain detection period. For example, the detection period is a period of one second or more and one hour or less. The infrastructure radio wave sensor 10 continuously detects the positions of reflection points during the detection period. The detection results output from the infrastructure radio wave sensor 10 include coordinate values ​​of all reflection points detected during the detection period. The acquisition unit 111 acquires the detection results of the infrastructure radio wave sensor 10 detecting objects during the detection period.

[0053] The first determination unit 112 determines, based on the detection result acquired by the acquisition unit 111 , candidate exclusion areas in the sensor coordinate space that are candidates for exclusion areas to be excluded from detection targets of the infrastructure radio wave sensor 10 .

[0054] FIG. 6 is a diagram for explaining an example of determining the exclusion candidate area.

[0055] The radio waves emitted from the infrastructure radio wave sensor 10 may be reflected by multiple objects simultaneously. However, the reflection strength of the radio waves varies depending on the location on a single object. Therefore, multiple reflection points may be detected from a single object.

[0056] The first determination unit 112 groups reflection points on the same object. In FIG. 6 , reflection points PP appear concentrated in four locations in the sensor coordinate space. The first determination unit 112 groups (clusters) the reflection points PP, for example, based on the distance between the reflection points PP. That is, multiple reflection points PP that are close to each other form one group. In FIG. 6 , four groups, G1, G2, G3, and G4, are formed. For example, group G1 is a group made up of multiple reflection points PP from trees. Group G2 is a group made up of multiple reflection points PP from utility poles. Group G3 is a group made up of reflection points PP that are not from a specific object but are erroneously detected. Group G4 is a group made up of multiple reflection points PP from shrubs.

[0057] The first determination unit 112 determines the exclusion candidate area at the position of each group formed by grouping in the sensor coordinate space. In a more specific example, the first determination unit 112 determines the position of the exclusion candidate area within the setting area 350. The setting area 350 is an area defined in the sensor coordinate space based on the detection area 300. For example, the setting area 350 is an area obtained by expanding the outer edge of the detection area 300. For example, if the outer edge of the detection area 300 is polygonal as shown in FIG. 6 , the setting area 350 is a polygon larger than the detection area 300, with each side moved outward by a predetermined distance.

[0058] 6, groups G1, G2, and G3 are located inside the set area 350, and group G4 is located outside the set area 350. Therefore, exclusion candidate areas are placed at the positions of the three groups G1, G2, and G3. No exclusion candidate area is placed at the position of group G4.

[0059] Returning to FIG. 5, the display control unit 113 causes the display device 202 to display the exclusion candidate area determined by the first determination unit 112 .

[0060] For example, the display device 202 displays an exclusion area setting screen in which candidate exclusion areas are arranged in the sensor coordinate space. Fig. 7 is a diagram showing a first example of the exclusion area setting screen.

[0061] The display control unit 113 displays the exclusion candidate areas on the display device 202 together with the detection area 300. That is, on the exclusion area setting screen 200, the detection area 300 and the exclusion candidate areas 400A, 400B, and 400C are simultaneously displayed in a sensor coordinate space defined by the X axis and the Y axis. In the example of Fig. 7 , the exclusion candidate area 400A corresponds to group G1, the exclusion candidate area 400B corresponds to group G2, and the exclusion candidate area 400C corresponds to group G3.

[0062] By simultaneously displaying the detection area 300 and the exclusion candidate areas 400A, 400B, and 400C, the user can understand the positional relationship between each exclusion candidate area 400A, 400B, and 400C and the detection area 300. For example, the user can recognize which stationary object the exclusion candidate area 400A, 400B, or 400C corresponds to by comparing the positional relationship between each exclusion candidate area 400A, 400B, and 400C and the detection area 300 with the positional relationship between each stationary object and the detection area 30 (or the crosswalk 20) ​​in real space. In the example of FIG. 7 , the user can recognize that the exclusion candidate area 400A corresponds to a tree and the exclusion candidate area 400B corresponds to a utility pole. Similarly, the user can recognize that there is no stationary object corresponding to the exclusion candidate area 400C.

[0063] Returning to FIG. 5, the second determination unit 114 determines the exclusion candidate areas 400A and 400B displayed on the display device 202 as exclusion areas.

[0064] For example, the second determination unit 114 determines the type of exclusion area. The type of exclusion area is the type of object located in the exclusion area. Examples of the type of exclusion area include trees, shrubs, utility poles, traffic signals, guardrails, and traffic signs. This allows the user to identify the type of stationary object that the exclusion area was determined to exclude from detection targets.

[0065] In a specific example, the user can specify the type of exclusion area using the input device 201. The second determination unit 114 determines a pre-programmed type for the exclusion area.

[0066] The display control unit 113 causes the display device 202 to display a plurality of images (icons) corresponding to each of the plurality of exclusion area types. Referring to FIG. 7 , the exclusion area setting screen 200 includes, for example, an icon display area 500. A plurality of icons 510A, 510B, 510C, and 510D are arranged in the icon display area 500. Each of the plurality of icons 510A, 510B, 510C, and 510D corresponds to a plurality of exclusion area types. That is, in the example of FIG. 7 , the icon 510A corresponds to a tree. The icon 510A includes an image of a tree. The icon 510B corresponds to a shrub. The icon 510B includes an image of a shrub. The icon 510C corresponds to a utility pole. The icon 510C includes an image of a utility pole. The icon 510D corresponds to a traffic signal. The icon 510D includes an image of a traffic signal. By scrolling the icon display area 500, icons corresponding to exclusion area types other than those described above (guardrails, traffic signs) can also be displayed.

[0067] For example, the second determination unit 114 accepts designation of the type of icon corresponding to the exclusion area corresponding to the exclusion candidate area 400A, 400B, 400C by a user operation of placing the icons 510A, 510B, 510C, 510D in the exclusion candidate area 400A, 400B, 400C. In other words, the icons 510A, 510B, 510C, 510D can be moved within the screen by, for example, a drag operation.

[0068] 8 is a diagram illustrating the movement of icons on the exclusion area setting screen. The user moves icons 510A, 510B, 510C, and 510D from the icon display area 500 to the exclusion candidate areas 400A, 400B, and 400C by dragging and dropping. In the example of FIG. 8, a tree icon 510A is placed in the exclusion candidate area 400A corresponding to a tree. A utility pole icon 510C is placed in the exclusion candidate area 400B corresponding to a utility pole. No icons are placed in the exclusion candidate areas 400C that do not correspond to specific stationary objects.

[0069] 9 is a diagram showing a second example of the exclusion area setting screen, which shows the exclusion area setting screen 200 when an icon 510A is placed in the exclusion candidate area 400A and an icon 510C is placed in the exclusion candidate area 400B.

[0070] By placing the icon 510A, 510C in the position of the exclusion candidate area 400A, 400B where the icon 510A, 510C is placed, the exclusion area 410A, 410B of the type corresponding to the icon 510A, 510C is determined. In other words, the exclusion candidate area 400A, 400B where the icon 510A, 510C is placed changes to the exclusion area 410A, 410B.

[0071] Returning to FIG. 5 , for example, the second determination unit 114 determines the size of the exclusion area depending on the type of exclusion area. That is, in the example of FIG. 9 , the type of exclusion area 410A determined at the position of the exclusion candidate area 400A is determined to be "tree." The size of the exclusion area 410A is determined to correspond to a tree. The type of exclusion area 410B determined at the position of the exclusion candidate area 400B is determined to be "utility pole." The size of the exclusion area 410B is determined to correspond to a utility pole. The infrastructure radio wave sensor 10 does not detect any objects within the exclusion area of ​​the determined size. In other words, objects (reflection points) detected within the exclusion area are excluded from the detection results.

[0072] For example, the second determination unit 114 determines the speed range of objects to be excluded from detection targets in association with the exclusion area. That is, in the example of FIG. 9 , the speed range of the exclusion area 410A is determined to be a value corresponding to trees. The speed range of the exclusion area 410B is determined to be a value corresponding to utility poles. The infrastructure radio wave sensor 10 does not detect objects within the exclusion area whose line-of-sight speed is within the set speed range. In other words, if the line-of-sight speed of a detected object (reflection point) within the exclusion area is within the speed range of the exclusion area, the object is excluded from the detection results.

[0073] For example, the second determination unit 114 determines the range of radio wave reception levels (hereinafter also referred to as the "reception level range") of objects to be excluded from detection targets in association with the exclusion area. That is, in the example of FIG. 9 , the reception level range of the exclusion area 410A is determined to be a value corresponding to trees. The reception level range of the exclusion area 410B is determined to be a value corresponding to utility poles. The infrastructure radio wave sensor 10 does not detect objects within the exclusion area whose radio wave reception levels are within the set reception level range. In other words, if the radio wave reception level from a detected object (reflection point) within the exclusion area is within the reception level range of the exclusion area, the object is excluded from the detection results.

[0074] For example, the second determination unit 114 may determine the size of the exclusion area corresponding to the exclusion candidate area by correcting the initial size assigned to the exclusion candidate area by a correction value predetermined for the type of exclusion area.

[0075] For example, the second determination unit 114 may determine the speed range of the exclusion area corresponding to the exclusion candidate area by correcting the initial speed range assigned to the exclusion candidate area by a correction value predetermined for the type of exclusion area.

[0076] For example, the second determination unit 114 may determine the reception level range of the exclusion area corresponding to the exclusion candidate area by correcting the initial reception level range assigned to the exclusion candidate area using a correction value predetermined for the type of exclusion area.

[0077] For example, the exclusion candidate areas 400A, 400B, and 400C are assigned preset initial sizes, initial speed ranges, and initial reception level ranges. The initial sizes, initial speed ranges, and initial reception level ranges are, for example, fixed values. However, the initial sizes, initial speed ranges, and initial reception level ranges assigned to the exclusion candidate areas 400A, 400B, and 400C may also be determined based on at least one of the sizes of the groups G1, G2, and G3 determined for the exclusion candidate areas 400A, 400B, and 400C, the number of reflection points, and the radio wave reception levels at the reflection points.

[0078] Correction value information 108 including correction values ​​for the size, speed range, and reception level range of the exclusion area is stored, for example, in the non-volatile memory 102 (see FIG. 4 ). FIG. 10 is a diagram showing an example of correction values ​​for the size, speed range, and reception level range of the exclusion area.

[0079] In the example of FIG. 10 , the correction value information 108 defines correction values ​​for the size, speed (speed range), and radio wave reception level (reception level range) for each type of exclusion area. For example, the size of the range in which reflection points detected from a stationary object appear correlates with the size and shape of the stationary object. Therefore, the correction value for the size of the exclusion area is determined based on, for example, the size and shape of the stationary object. For example, the line-of-sight speed detected from a stationary object correlates with the material (e.g., the flexibility of the material) and structure (e.g., whether small parts are present) of the stationary object. Therefore, the correction value for the speed range of the exclusion area is determined based on, for example, the material and structure of the stationary object. For example, the reception level of reflected waves from a stationary object correlates with the surface roughness of the stationary object. Therefore, the correction value for the reception level range of the exclusion area is determined based on, for example, the surface roughness of the stationary object.

[0080] In the example of FIG. 10 , specifically, a size correction value of "1.5", a speed correction value of "1.3", and a radio wave reception level correction value of "0.8" are defined for the type "tree". A size correction value of "0.7", a speed correction value of "1.3", and a radio wave reception level correction value of "0.8" are defined for the type "plant". A size correction value of "1.2", a speed correction value of "0.5", and a radio wave reception level correction value of "1.3" are defined for the type "utility pole". A size correction value of "1.1", a speed correction value of "0.6", and a radio wave reception level correction value of "1.5" are defined for the type "traffic signal".

[0081] For example, the second determination unit 114 identifies correction values ​​for each of the size, speed range, and reception level range corresponding to the type of exclusion area from the correction value information 108. The second determination unit 114 determines the size of the exclusion area by multiplying the initial size assigned to the exclusion candidate area by the correction value for size defined in the correction value information 108. Similarly, the second determination unit 114 determines the speed range of the exclusion area by multiplying the initial speed range assigned to the exclusion candidate area by the correction value for the speed range defined in the correction value information 108. The second determination unit 114 determines the reception level range of the exclusion area by multiplying the initial reception level range assigned to the exclusion candidate area by the correction value for the reception level range defined in the correction value information 108.

[0082] Returning to FIG. 5, the deletion unit 115 deletes the exclusion candidate area in response to an instruction from the user.

[0083] 11 is a diagram showing a third example of an exclusion area setting screen. For example, if there is an unnecessary exclusion candidate area 400C (not to be set as an exclusion area), the user can use the input device 201 to specify the unnecessary exclusion candidate area 400C and input a deletion instruction for the specified exclusion candidate area 400C to the configuration support device 100. In a specific example, the user specifies the exclusion candidate area 400C by clicking or tapping on the exclusion candidate area 400C displayed on the screen. The user can input a deletion instruction for the exclusion candidate area 400C to the configuration support device 100 by pressing the delete key or touching the screen using an operation method corresponding to deletion.

[0084] In the example of FIG. 11, when an instruction to delete the exclusion candidate area 400C is input, the deletion unit 115 deletes the exclusion candidate area 400C from the exclusion area setting screen 200.

[0085] 5 , the setting unit 116 sets the coordinate values, size, speed range, and radio wave reception level of the determined exclusion areas 410A and 410B in the infrastructure radio wave sensor 10. Specifically, the setting unit 116 transmits setting values ​​indicating the coordinate values, size, speed range, and radio wave reception level of the exclusion areas 410A and 410B to the infrastructure radio wave sensor 10. The infrastructure radio wave sensor 10 stores the received setting values ​​to set the coordinate values, size, speed range, and radio wave reception level of the exclusion areas 410A and 410B.

[0086] 4. Operation of the Setting Support Device FIG. 12 is a flowchart showing an example of the setting support operation of the setting support device according to the embodiment for setting an exclusion area.

[0087] The processor 101 of the setting assistance device 100 starts up the infrastructure radio wave sensor 10 in setting mode (step S101).

[0088] The infrastructure radio wave sensor 10 detects an object during the detection period and transmits the detection result to the setting assistance device 100. The setting assistance device 100 receives the detection result transmitted from the infrastructure radio wave sensor 10 (step S102).

[0089] The processor 101 groups the reflection points included in the acquired detection results and determines the position of each formed group as an exclusion candidate area (step S103). In this process, exclusion candidate areas are determined only inside a set area 350 that is determined based on the detection area 300, and exclusion candidate areas are not determined outside the set area 350.

[0090] The processor 101 causes the display device 202 to display the exclusion area setting screen 200 including the determined exclusion candidate area (step S104). The exclusion area setting screen 200 displays the detection area 300 and the exclusion candidate areas 400A, 400B, and 400C in the sensor coordinate space.

[0091] On the exclusion area setting screen 200, the user specifies the type of exclusion area by placing the icons 510A, 510B, 510C, and 510D in the candidate exclusion areas 400A, 400B, and 400C. The processor 101 accepts the specification of the type of exclusion area from the user (step S105).

[0092] The processor 101 determines the exclusion areas 410A and 410B of the type specified by the user at the positions of the exclusion candidate areas 400A, 400B, and 400C where the icons 510A, 510B, 510C, and 510D are located (step S106). At this time, the processor 101 acquires, from the correction value information 108, correction values ​​for the size, speed range, and reception level range of the type corresponding to the icons 510A, 510B, 510C, and 510D (icons 510A and 510C in the example of FIG. 10 ) located in the exclusion candidate areas 400A, 400B, and 400C. The processor 101 corrects the initial values ​​of the size, speed range, and reception level range assigned to each of the exclusion candidate areas 400A and 400B using the acquired correction values, and determines the size, speed range, and reception level range of each of the exclusion candidate areas 410A and 410B.

[0093] The user places icons 510A, 510B, 510C, and 510D in all of the exclusion candidate areas to be determined as exclusion areas. If there are any exclusion candidate areas remaining to be determined as exclusion areas (NO in step S107), the process returns to step S105.

[0094] If an unnecessary exclusion candidate area 400C exists on the exclusion area setting screen 200, the user can specify the exclusion candidate area 400C and input an instruction to delete the specified exclusion candidate area 400C to the setting support device 100. When all of the exclusion areas 410A, 410B have been determined (YES in step S107), the processor 101 determines whether or not an instruction to delete the exclusion candidate area 400C has been received from the user (step S108).

[0095] If an instruction to delete the exclusion candidate area 400C has been received from the user (YES in step S108), the processor 101 deletes the specified exclusion candidate area 400C from the exclusion area setting screen 200 (step S109). If an instruction to delete the exclusion candidate area 400C has not been received from the user (NO in step S108), the processor 101 proceeds directly to step S110.

[0096] The processor 101 sets the coordinate values, size, speed range, and radio wave reception level of the determined exclusion areas 410A, 410B in the infrastructure radio wave sensor 10 (step S110). That is, the processor 101 transmits the setting values ​​of the coordinate values, size, speed range, and radio wave reception level of the determined exclusion areas 410A, 410B to the infrastructure radio wave sensor 10. The infrastructure radio wave sensor 10 sets the coordinate values, size, speed range, and radio wave reception level of the exclusion areas 410A, 410B based on the received setting values. This completes the exclusion area setting support operation.

[0097] 13 is a diagram showing a modified example of the exclusion area setting screen. The exclusion area setting screen 200A according to this modification omits the icon display area 500. On the exclusion area setting screen 200A, a drop-down list 450 can be displayed for each of the displayed exclusion candidate areas 400A, 400B, and 400C by using a specific operation method. For example, the user can display the drop-down list 450 corresponding to the exclusion candidate area 400A by clicking or touching the exclusion candidate area 400A.

[0098] The drop-down list 450 includes items for each type of exclusion area (trees, shrubs, utility poles, traffic signals, guardrails, and traffic signs) and a delete option. By specifying one of the items included in the drop-down list 450, for example by clicking or touching, the user can input an instruction corresponding to the specified item into the configuration assistance device 100. For example, by specifying the item "trees," the user can input an instruction to determine the exclusion candidate area 400A as an exclusion area of ​​the type "trees." In another example, by specifying the item "delete," the user can input an instruction to delete the exclusion candidate area 400A.

[0099] In the above-described embodiment, the setting assistance device 100 has been described as assisting in setting an exclusion area for the infrastructure radio wave sensor 10 for detecting pedestrians at the crosswalk 20, but the present invention is not limited to this. The setting assistance device may be configured to assist in setting an exclusion area for the infrastructure radio wave sensor for detecting vehicles on the roadway.

[0100] [6. Supplementary Note] 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.

[0101] DESCRIPTION OF SYMBOLS 10 Infrastructure radio wave sensor (radio wave sensor) 14 Transmitting / receiving unit 15a Transmitting antenna 16a Receiving antenna 17 Detection circuit 18 Housing 18a Transmitting / receiving surface 20 Crosswalk 30 Detection area 30A Zebra area 30B, 30C Waiting area 31P Point 31Y Projection center axis 31X Straight line 40 Radio wave irradiation area 50 Structure 51 Pole 52 Arm 100 Setting support device 101 Processor 102 Non-volatile memory 103 Volatile memory 104 Input / output interface 105 Graphics controller 106 Communication interface 107 Setting support program 108 Correction value information 111 Acquisition unit 112 First determination unit 113 Display control unit 114 Second determination unit 115 Deletion unit 116 Setting unit 200, 200A Exclusion area setting screen 201 Input device 202 Display device 300 Detection area 300A Zebra area 300B, 300C Waiting area 350 Setting area 400A, 400B, 400C Exclusion candidate area 410A, 410B Exclusion area 450 Drop-down list 500 Icon display area 510A, 510B, 510C, 510D Icons G1, G2, G3, G4 Group

Claims

1. A radio wave sensor setting support device comprising: an acquisition unit that acquires detection results of objects on a road by a radio wave sensor; a first determination unit that determines, in a coordinate space set on the radio wave sensor, a candidate exclusion area that is a candidate for an exclusion area to be excluded from the detection target of the radio wave sensor based on the detection results acquired by the acquisition unit; a display control unit that displays, on a display device, the candidate exclusion area determined by the first determination unit; and a second determination unit that determines, as the exclusion candidate area, the candidate exclusion area displayed on the display device.

2. The radio wave sensor setting support device according to claim 1, wherein the second determination unit determines the type of the excluded area.

3. The radio wave sensor setting support device according to claim 2, wherein the type is a type designated by a user.

4. The radio wave sensor setting support device of claim 3, wherein the display control unit causes the display device to display a plurality of images corresponding to each of a plurality of types of exclusion areas, and the second determination unit accepts designation of the type for the exclusion area corresponding to the candidate exclusion area by the user's operation of placing the image in the candidate exclusion area.

5. The radio wave sensor setting assistance device according to claim 2, wherein the second determination unit determines a size of the exclusion area depending on the type of the exclusion area.

6. The radio wave sensor setting support device of claim 5, wherein the second determination unit determines the size of the exclusion area corresponding to the candidate exclusion area by correcting an initial size assigned to the candidate exclusion area by a predetermined correction value for the type.

7. A radio wave sensor setting support device as described in any one of claims 1 to 6, wherein the second determination unit determines at least one of the speed range of an object to be excluded from the detection target and the range of radio wave reception levels at the radio wave sensor from an object to be excluded from the detection target in correspondence with the exclusion area.

8. The radio wave sensor setting support device of claim 7, wherein the second determination unit determines at least one magnitude of the object's speed and the radio wave reception level from the object at the radio wave sensor according to the type determined for the exclusion area.

9. The radio wave sensor setting support device of claim 1, wherein the first determination unit determines the position of the candidate exclusion area within a set area that is determined based on a detection area set in the coordinate space and that corresponds to a specific area on the road by the radio wave sensor.

10. The radio wave sensor setting assistance device according to claim 1, further comprising a deletion unit that deletes the candidate exclusion areas in response to an instruction from a user.

11. The radio wave sensor setting support device of claim 1, wherein the display control unit causes the display device to display the candidate exclusion area together with a detection area set in the coordinate space corresponding to a specific area on the road by the radio wave sensor.

12. The radio wave sensor setting support device of claim 1, wherein the acquisition unit acquires the detection result of the radio wave sensor detecting an object on a road during a certain detection period, the detection result indicating reflection points on the object of the radio waves irradiated from the radio wave sensor, and the first determination unit groups all of the reflection points detected during the detection period based on the positions of the reflection points in the coordinate space and determines the candidate exclusion area at the position of each group.

13. A method for supporting the setting of a radio wave sensor, comprising: a step of acquiring detection results of an object on a road by a radio wave sensor; a step of determining, in a coordinate space set in the radio wave sensor, a candidate exclusion area which is a candidate for an exclusion area to be excluded from the detection target of the radio wave sensor based on the acquired detection results; a step of displaying the determined candidate exclusion area on a display device; and a step of determining the candidate exclusion area displayed on the display device as the exclusion area.

14. A computer program for assisting in the setting of a radio wave sensor that detects objects on a road, the computer program causing a computer to execute the following steps: acquiring detection results of objects on a road by the radio wave sensor; determining, in a coordinate space set in the radio wave sensor, candidate exclusion areas that are candidates for exclusion areas to be excluded from the detection targets of the radio wave sensor based on the acquired detection results; displaying the determined candidate exclusion areas on a display device; and determining the candidate exclusion areas displayed on the display device as the exclusion areas.

Images