Setting support device, setting support method, and computer program

Abstract

A setting support device for setting a road area in a detection range of an object detection sensor, said device comprising a processing unit that executes: processing of acquiring position information of an object moving along the edges on both sides in the width direction of a road within the detection range; processing of displaying a movement trajectory of the object on a display device on the basis of the position information; processing of receiving a boundary position of the road area determined on the basis of the movement trajectory displayed on the display device; and processing of setting the road area within the detection range on the basis of the boundary position.

Description

Setting support device, setting support method, and computer program

[0001] This application claims priority to Japanese Patent Application No. 2024-092215, filed June 6, 2024, and incorporates by reference all of the contents of that application.

[0002] For the purpose of traffic monitoring, radio wave sensors are installed so that objects such as vehicles and pedestrians on roads or intersections are included within their detection range. 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 the detection target area, such as the roadway, 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 setting assistance device according to an embodiment of the present disclosure is a setting assistance device for setting a roadway area within the detection range of an object detection sensor. The setting assistance device includes a processing unit that executes the following processes: acquiring position information of an object moving along both edges of the roadway in a width direction; displaying, on a display device, a movement trajectory of the object when the road surface is represented in a two-dimensional Cartesian coordinate system based on the position information; accepting a boundary position of the roadway area that is determined based on the movement trajectory displayed on the display device; and setting the roadway area within the detection range based on the boundary position.

[0005] FIG. 1 is a diagram showing an example of use of an object detection sensor according to an embodiment. FIG. 2 is a block diagram showing an example of the hardware configuration of a setting assistance device according to the embodiment. FIG. 3 is a diagram showing an example of a process for setting a roadway area for an object detection sensor. FIG. 4 is a plan view showing an example of a road on which an object detection sensor is installed. FIG. 5 is a flowchart showing an example of a setting assistance process. FIG. 6 is a diagram showing an example of a display portion of a movement trajectory on a display device. FIG. 7 is a diagram showing an aspect when a boundary position of a roadway area is set. FIG. 8 is a diagram showing an example of a divided roadway area. FIG. 9 is a diagram for explaining adjustment processing. FIG. 10 is a diagram showing a part of a setting assistance process according to a modified example. FIG. 11 is a partial enlarged view of a movement trajectory. FIG. 12 is a diagram showing a part of a setting assistance process according to another modified example.

[0006] [Problem to be Solved by the Present Disclosure] In order to detect vehicles on a roadway using a radio wave sensor, it is conceivable to set a roadway area in a portion of the detection range of the radio wave sensor that corresponds to the roadway. In order to set a roadway area in a portion of the detection range that corresponds to the roadway, an operator needs to measure the position of the roadway portion and install a reflector that can be detected by the radio wave sensor in a specific portion on the roadway, which requires the operator to enter the roadway to perform the work.

[0007] However, it is difficult for workers to enter the roadway to perform their work, and it is not easy to set the roadway area in the part of the detection range of the radio wave sensor (object detection sensor) that corresponds to the roadway. This problem arises not only when setting the area corresponding to the roadway but also when setting the area corresponding to the road within the detection range.

[0008] Effect of the Present Disclosure According to the present disclosure, it becomes easy to set a road area that is an object detection area.

[0009] [Description of the embodiment of the present disclosure] First, the contents of the embodiment will be listed and described. [Outline of the embodiment]

[0010] (1) A setting assistance device according to an embodiment of the present disclosure is a setting assistance device for setting a road area within the detection range of an object detection sensor. The setting assistance device includes a processing unit that executes the following processes: acquiring position information of an object moving along both widthwise edges of a road within the detection range; displaying a movement trajectory of the object on a display device based on the position information; accepting a boundary position of the road area determined based on the movement trajectory displayed on the display device; and setting the road area within the detection range based on the boundary position. According to the above configuration, when setting a road area, the movement trajectory of an object moving along the edge of the road can be displayed on the display device as a marker indicating the edge of the road and output to the user. This facilitates the user's setting of a road area within the detection range of the object detection sensor.

[0011] (2) In the setting assistance device of (1) above, the road may include a carriageway. In this case, the object does not need to enter the road that is a carriageway.

[0012] (3) In the setting assistance device of (2), when the processing unit further executes a process of receiving the number of lanes of the road and a process of dividing the road area determined by the boundary position into a plurality of divided areas based on the number of lanes, the road area set in the detection range may include the plurality of divided areas. In this case, the number of lanes of the road can be input by a user's operation input, and divided areas corresponding to the plurality of lanes can be set in the road area.

[0013] (4) In the setting assistance device of (3) above, the processing unit may further execute a process of setting a vehicle travel direction for the plurality of lane areas.

[0014] (5) In the setting assistance device of (4), the process of setting the vehicle travel direction may include a process of accepting the vehicle travel direction for the plurality of lane areas and a process of setting the accepted vehicle travel direction for the plurality of lane areas. In this case, the vehicle travel direction for the plurality of lane areas is provided by a user's operation input, which makes it easy to set the vehicle travel direction for the plurality of lane areas.

[0015] (6) In the setting assistance device according to any one of (3) to (5), after setting the road area, the processing unit may further execute the following: acquiring a detection result of the object detection sensor that detected a moving object in the plurality of lane areas; and adjusting the plurality of lane areas based on the acquired detection result. In this case, by adjusting the plurality of lane areas based on the detection result of the object detection sensor, it is possible to increase the degree of agreement between the plurality of lanes on the road and the plurality of lane areas set in the detection range after setting the plurality of lane areas.

[0016] (7) In the setting assistance device according to any one of (1) to (6), the process of displaying the trajectory of the object may include a process of calculating an actual trajectory based on the position information, and a process of correcting the actual trajectory to calculate the trajectory. In this case, even if the actual trajectory contains noise, a trajectory from which the noise has been removed can be obtained.

[0017] (8) In the setting assistance device of (7), the process of correcting the actual movement trajectory to determine the movement trajectory may include a process of displaying the actual movement trajectory when expressed in a two-dimensional orthogonal coordinate system on the display device, a process of accepting a corrected trajectory determined based on the actual movement trajectory displayed on the display device, and a process of determining the corrected trajectory as the movement trajectory. In this case, the corrected trajectory provided by a user's operation input can be accepted, and the movement trajectory can be determined using the corrected trajectory.

[0018] (9) In the setting assistance device of any one of (1) to (8) above, when the object is configured to perform an action that is displayed on the display device as a unique trajectory at a predetermined position along the edge, the processing unit may further perform a process of accepting, as a reference point, the position of the object at which it is determined that the object has performed the action based on the movement trajectory displayed on the display device, and a process of displaying the position of the reference point on the display device. In this case, the predetermined position along the edge can be accepted as a reference point by a user's operation input, and this reference point can be displayed on the display device, so that the user can refer to the reference point when setting a road area.

[0019] (10) In the setting assistance device of (9) above, the predetermined position may include at least one of a position along the edge that corresponds to a stop line on the road and a position along the edge that corresponds to a pedestrian crossing on the road. In this case, at least one of the position of the stop line and the position of the pedestrian crossing can be displayed on the display device as a reference point.

[0020] (11) In the setting assistance device according to any one of (1) to (10), if the object is an object moving on another road along the edge, the distance between the object and the edge may be maintained at a predetermined value while the object is moving. In this case, even if the object moves on another road, the movement trajectory can indicate the relative position of the edge. Therefore, the user does not need to enter the road.

[0021] (12) In the setting assistance device according to any one of (1) to (10), the object may be an object moving along the edge of the road. In this case, a vehicle such as a bicycle moving along the edge of the road may be used as the object.

[0022] (13) (14) In any one of the setting assistance devices (1) to (12) above, the location information may be location information based on the detection result when the object is detected by the object detection sensor, or may be location information obtained by GPS.

[0023] (15) From another perspective, the present embodiment is a setting support method for setting a road area within a detection range of an object detection sensor. This setting support method includes the steps of acquiring position information of an object moving along both edges of a road in a width direction within the detection range, displaying a movement trajectory of the object on a display device based on the position information, accepting a boundary position of the road area that is determined based on the movement trajectory displayed on the display device, and setting the road area within the detection range based on the boundary position.

[0024] (16) From yet another perspective, the present embodiment is a computer program for causing a computer to execute a setting support process for setting a road area within a detection range of an object detection sensor. The computer program causes the computer to execute the steps of acquiring position information of an object moving along both edges of a road in a width direction within the detection range, displaying a movement trajectory of the object on a display device based on the position information, accepting a boundary position of the road area that is determined based on the movement trajectory displayed on the display device, and setting the road area within the detection range based on the boundary position.

[0025] [Details of the embodiment] Preferred embodiments will now be described with reference to the drawings. Note that at least some of the embodiments described below may be combined in any manner.

[0026] [Object Detection Sensor] Fig. 1 is a diagram showing an example of use of an object detection sensor according to an embodiment. The object detection sensor 1 according to this embodiment is a radio wave radar for traffic monitoring, and detects objects moving on a road 2. The object detection sensor 1 is, for example, a millimeter wave radar. The road 2 includes a roadway 3 and a sidewalk 4.

[0027] The object detection sensor 1 is installed on a structure 50 on a road 2. The structure 50 is several meters tall, and the object detection sensor 1 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. The object detection sensor 1 is attached to the arm 52. The object detection sensor 1 may also be installed on a building or the like beside the road 2.

[0028] The object detection sensor 1 emits radio waves (millimeter waves) onto the road 2 and receives the reflected waves to detect objects (for example, vehicles such as cars and bicycles, and pedestrians) moving on the road 2. The object detection sensor 1 can also detect the distance from the object detection sensor 1 to an object on the road 2, the speed of the object, and the horizontal angle (azimuth angle) of the object's location relative to the radio wave emission axis.

[0029] The detection results by the object detection sensor 1 of this embodiment are used to detect vehicles moving on a roadway portion 3p, which is a part of the roadway 3. Therefore, the detection range A of the object detection sensor 1 includes the roadway portion 3p. The detection range A is the range in which the object detection sensor 1 can detect objects.

[0030] The detection results of the object detection sensor 1 include point cloud data indicating objects detected within the detection range A. The point cloud data includes position information for each point. This position information is expressed in a polar coordinate system using the distance to the object and the azimuth angle of the object. This polar coordinate system can also be considered an inherent coordinate system set in the object detection sensor 1. As described above, the object detection sensor 1 detects reflected waves from objects, and therefore cannot identify the objects. In other words, it is difficult to determine whether an object is a pedestrian or a vehicle using the detection results from the object detection sensor 1.

[0031] For this reason, in order for the object detection sensor 1 to detect a moving object (vehicle) on the roadway portion 3p, it is necessary to set an area corresponding to the roadway portion 3p in advance within the detection range A. If an area corresponding to the roadway portion 3p is set within the detection range A, the object detection sensor 1 can recognize that, among the objects detected within the detection range A, an object moving in the area corresponding to the roadway portion 3p is a vehicle moving on the roadway portion 3p. If an area corresponding to the roadway portion 3p is set within the detection range A, the object detection sensor 1 can detect a vehicle moving on the roadway portion 3p. In other words, this area is a detection area for detecting a moving object at a specific position on the road. Hereinafter, the area within the detection range A that corresponds to the roadway portion 3p will be referred to as the roadway area (road area). Of the detection results output by the object detection sensor 1, a detection result indicating that a moving object has been detected in the roadway area indicates the presence of a vehicle moving on the roadway portion 3p.

[0032] The setting of the roadway area for the detection range A is performed by a user (operator). In this embodiment, a setting support device is used for the setting of the roadway area performed by the user.

[0033] [Configuration of Setting Support Device] Figure 2 is a block diagram showing an example of the hardware configuration of a setting support device according to this embodiment. The setting support device 100 is used by a user who sets the roadway area of ​​the object detection sensor 1. The setting support device 100 includes a processor 101 (processing unit), a non-volatile memory 102, a volatile memory 103, an input / output interface (I / O) 104, a graphics controller 105, and a communication interface (communication I / F) 106. The setting support device 100 further includes an input device 201 and a display device 202. Note that at least one of the input device 201 and the display device 202 may be an external device connected to the setting support device 100.

[0034] 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 executes the setting assistance program 107 to perform processing to assist the user in setting a roadway area.

[0035] The processor 101 is, for example, a CPU (Central Processing Unit). However, the processor 101 is not limited to a CPU. The processor 101 may also be a GPU (Graphics Processing Unit). The processor 101 may also be, for example, an ASIC (Application Specific Integrated Circuit) or a programmable logic device such as a gate array or FPGA (Field Programmable Gate Array). In this case, the ASIC or programmable logic device is configured to be able to execute processing similar to that of the setting assistance program 107.

[0036] 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.

[0037] 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.

[0038] The communication I / F 106 can communicate with an external device. For example, the communication I / F 106 is connected to the object detection sensor 1 via a communication cable and can communicate with the object detection sensor 1. The communication I / F 106 may be a wireless communication interface and can communicate with the object detection sensor 1 wirelessly.

[0039] [Setting of Roadway Area] Fig. 3 is a diagram showing an example of a process for setting a roadway area for the object detection sensor 1. Fig. 3 shows, as a sequence diagram, the relationship between the processes performed by the setting assistance device 100 and the object detection sensor 1 and the work performed on the road 2.

[0040] As shown in Fig. 3, first, as work on the road 2, the object detection sensor 1 is installed on the road 2 (step S1 in Fig. 3). Fig. 4 is a plan view showing an example of a road on which the object detection sensor 1 is installed. In the following explanation, a case will be described in which, of the four roadways 3 connected to the intersection I shown in Fig. 4, a roadway area is set corresponding to a roadway portion 3p of the roadway 3A on the upper side of the page.

[0041] In the following description, the direction along the vehicle travel direction on the roadway 3A is referred to as the extension direction E, and the direction perpendicular to the extension direction E is referred to as the width direction W. The extension direction E includes a first extension direction E1, which is the direction in which vehicles exit the intersection I, and a second extension direction E2, which is the opposite direction to the first extension direction E1. The width direction W also includes a first width direction W1, which is directed from the center line 7 of the roadway 3A toward the incoming lane, and a second width direction W2, which is the opposite direction to the first width direction W1.

[0042] The object detection sensor 1 is installed so that at least the roadway portion 3p is included in the detection range A. The roadway portion 3p is the portion of the roadway 3A extending from the crosswalk 6 to a point a certain distance in the first extension direction E1. The detection range A also includes the roadway 3A as well as portions of the sidewalk 4A located on both sides of the roadway 3A in the width direction W. Therefore, the object detection sensor 1 can detect objects located in the roadway portion 3p and objects located on portions of the sidewalk 4A located on both sides of the roadway 3A in the width direction W.

[0043] 3 , when the object detection sensor 1 is installed on the road 2, the user operates the object detection sensor 1 to cause the object detection sensor 1 to start detecting objects and outputting the detection results (step S2 in FIG. 3 ). Note that the users include not only workers working on the road 2 but also operators who operate the object detection sensor 1 and the setting assistance device 100.

[0044] Here, the object detection sensor 1 can be set to either a setting mode or an operation mode. The setting mode is an operation mode selected when setting a roadway area. In the setting mode, the object detection sensor 1 detects objects in the detection range A and outputs the detection results. The operation mode is an operation mode for detecting objects for traffic monitoring after the roadway area has been set. In step S2, the setting mode is selected as the operation mode of the object detection sensor 1.

[0045] When the object detection sensor 1 starts detecting an object, a worker on the road 2 moves on foot along the sidewalk 4A (step S3). As shown in FIG. 4 , worker M1 moves from position P1 to position P3. Furthermore, worker M2 moves from position P4 to position P5. Positions P1 and P3 are located on the sidewalk 4A on the first width direction W1 side. Position P1 corresponds to the edge of the crosswalk 6 provided at the base end of the roadway 3A on the first extension direction E1 side. Position P1 is located on the sidewalk 4A on an extension line extending from the edge along the width direction W. Position P3 is located a distance L from position P1 in the first extension direction E1. Distance L is the distance required for traffic monitoring of the roadway 3A and is the length of the roadway portion 3p. Distance L is, for example, approximately 50 m. Position P2, located between positions P1 and P3, corresponds to the position of stop line 8 provided at the entrance and exit of roadway 3A. Position P2 is located on the sidewalk 4A on an extension line extending from stop line 8 along the width direction W.

[0046] Positions P4 and P5 are positions on the sidewalk 4A on the second width direction W2 side. Like position P1, position P4 is a position corresponding to the edge of the crosswalk 6 on the first extension direction E1 side. Like position P3, position P5 is a position located a distance L from position P4 in the first extension direction E1.

[0047] Worker M1 moves from position P1 toward position P3. At this time, worker M1 moves along edge 3A1 on the first width direction W1 side of roadway 3A. Worker M2 moves from position P4 toward position P5. At this time, worker M2 moves along edge 3A2 on the second width direction W2 side of roadway 3A.

[0048] The distance d along the width direction W between the worker M1 (M2) and the edge 3A1 (3A2) is maintained at a predetermined value. The worker M1 moves so that the distance d is a predetermined value. When the distance d is 0, the worker M1 moves on the edge 3A1. Generally, guardrails, roadside trees, etc. are provided near the edge 3A1 of the sidewalk 4A. Therefore, the distance d is set taking these into consideration. Note that since the workers M1 and M2 move on foot, their trajectories tend to meander. Therefore, the distance d also varies to a certain extent.

[0049] Worker M1 stops once at positions P1, P2, and P3 and performs a predetermined action. The predetermined action includes an action that is displayed as a unique trajectory on display device 202. Here, a unique trajectory refers to a trajectory that can be distinguished from the normal movement trajectory of an object. More specifically, the predetermined action includes a stepping action, a waving action, an action of waving a reflector toward object detection sensor 1, etc. Worker M2 similarly stops once at positions P4 and P5 and performs a predetermined action.

[0050] In this embodiment, worker M1 moves from position P1 to position P3, and worker M2 moves from position P4 to position P5, but worker M1 may move from position P1 to position P3, and then worker M1 may move from position P4 to position P5.

[0051] As shown in FIG. 3 , while operators M1 and M2 are moving (step S3 in FIG. 3 ), the object detection sensor 1 provides the detection results to the setting support device 100 (step S4 in FIG. 3 ). The detection results provided to the setting support device 100 include the detection results of operators M1 and M2. When the detection results of operators M1 and M2 are provided, the setting support device 100 executes the setting support process (step S5). Whether the detection results of operators M1 and M2 have been provided is determined based on a notification provided to the setting support device 100. Upon receiving the notification, the setting support device 100 determines that the detection results of operators M1 and M2 have been provided. The notification that the detection results of operators M1 and M2 have been provided includes, in addition to the operators M1 and M2, operation input by the operator to the setting support device 100, notification by wireless transmission, etc.

[0052] 5 is a flowchart showing an example of the setting support process. First, the setting support device 100 (the processor 101 thereof) acquires the detection result provided by the object detection sensor 1 (step S21 in FIG. 5). The detection result of the object detection sensor 1 is provided at predetermined time intervals. When an object such as a pedestrian, bicycle, or vehicle located in the detection range A moves, the position of the object detected by the object detection sensor 1 changes. The detection result includes position information of the object and time information of the object detection. In the detection result, the object is represented as point cloud data. Furthermore, as described above, the position information of the object is represented in a polar coordinate system using the distance to the object and the azimuth angle of the object.

[0053] The setting assistance device 100 uses the detection results provided at predetermined time intervals to display the movement trajectory of the object over time on the display device 202 (step S22 in FIG. 5 ). FIG. 6 is a diagram showing an example of the movement trajectory display portion on the display device 202. The display portion 202a represents the road surface in a two-dimensional Cartesian coordinate system. In FIG. 6 , two movement trajectories 12 and 14 are displayed on the display portion 202a. Therefore, the movement trajectories 12 and 14 are represented in a two-dimensional Cartesian coordinate system. The movement trajectories 12 and 14 are the trajectories of the workers M1 and M2 when they walked. Therefore, the movement trajectories 12 and 14 are not perfectly straight, but exhibit variations such as meandering. Note that the road 2 is shown in the display portion 202a with a two-dot chain line for ease of understanding. In actuality, the road 2 is not displayed on the display portion 202a.

[0054] The setting support device 100 converts the position information of the detection results, which is in a polar coordinate system, into position information in a Cartesian coordinate system and displays the position of the object on the display section 202a. The setting support device 100 displays point cloud data representing the position of the object as a point cloud on the display section 202a. The setting support device 100 performs coordinate conversion on the detection results provided at predetermined time intervals and sequentially displays the positions of the objects on the display section 202a. The setting support device 100 may sequentially convert the detection results provided at predetermined time intervals and display them in real time to display the movement trajectory of the object, or may collectively convert detection results accumulated over a certain period of time and display the movement trajectory of the object over the certain period of time.

[0055] The movement trajectory 12 (14) may be represented by a point cloud, or may include a plurality of points 16 (20) and a line 18 (22) connecting the plurality of points 16 (20), as shown in FIG. 6 . The plurality of points 16, 20 are marks indicating the position of the object (operator M1, M2). Each of the plurality of points 16, 20 indicates the position of the object calculated based on the point cloud at that time. The lines 18, 22 are linear representations of the trajectory calculated by the point cloud. The plurality of points 16, 20 may be set by the setting assistance device 100 by the setting assistance device 100 calculating an estimated position of the object, or may be set manually by an operator operating the setting assistance device 100. In the manual case, the operator can specify the positions of the plurality of points 16, 20 on the display portion 202a using the input device 201 ( FIG. 2 ).

[0056] The multiple points 16 also include reference points 16a, 16b, and 16c. Reference points 16a, 16b, and 16c are displayed larger than the other points 16. Reference point 16a indicates a position corresponding to position P1 ( FIG. 4 ). As described above, at position P1, worker M1 stops and performs a predetermined action. In display portion 202a, the predetermined action causes a unique trajectory that can be distinguished from the object's normal movement trajectory to appear. Reference point 16a is displayed in the area where this unique trajectory appears. Reference point 16b indicates a position corresponding to position P2 ( FIG. 4 ). Reference point 16c indicates a position corresponding to position P3 ( FIG. 4 ).

[0057] Similarly, the multiple points 20 include reference points 20a and 20b. The reference points 20a and 20b are displayed larger than the other points 20. The reference point 20a indicates a position corresponding to position P4 ( FIG. 4 ). The reference point 20b indicates a position corresponding to position P5 ( FIG. 4 ). The reference points 16a, 16b, 16c, 20a, and 20b are set in portions where unique trajectories appear. The reference points 16a, 16b, 16c, 20a, and 20b may be set by the setting support device 100 or may be set manually by an operator operating the setting support device 100. The operator can use the input device 201 to specify the positions of the reference points 16a, 16b, 16c, 20a, and 20b on the display portion 202a. As described above, the setting assistance device 100 displays the reference points 16a, 16b, 16c, 20a, and 20b along with the movement trajectories 12 and 14.

[0058] In FIG. 5, the setting assistance device 100 displays the movement trajectories 12 and 14, and then executes a process to accept the boundary position of the roadway area (step S23 in FIG. 5). Looking at the display portion 202a of the display device 202, the operator references the movement trajectories 12 and 14 and defines the roadway area within the display portion 202a. FIG. 7 is a diagram showing the state when the boundary position of the roadway area is set. The operator performs input via the input device 201 so that the boundary position of the roadway area 30 is depicted on the display portion 202a. The rectangular roadway portion 3p corresponds to the roadway area 30. Therefore, the operator understands that the roadway area 30 will be roughly rectangular. Therefore, the operator performs input so that the roadway area 30 is depicted as a rectangle based on the reference points 16a, 16c, 20a, and 20b.

[0059] The roadway area 30 is an area surrounded by long sides 30a and short sides 30b. The long side 30a, which forms the boundary of the roadway area 30, is aligned with the movement trajectories 12 and 14. The long side 30a is set to be linear by regarding the movement trajectories 12 and 14 as straight lines. In this embodiment, the worker M1 (M2) moves so that the distance between the worker M1 (M2) and the edge 3A1 (3A2) is d. Therefore, the long side 30a along the trajectory 12 is set to a position that is moved by the distance d toward the movement trajectory 14 from the position of the straight line obtained from the movement trajectory 12. The long side 30a along the trajectory 14 is set to a position that is moved by the distance d toward the movement trajectory 12 from the position of the straight line obtained from the movement trajectory 14. The movement of the long side 30a may be performed by input from the operator. Furthermore, if the distance d is given to the setting assistance device 100, the movement of the long side 30a may be performed by the setting assistance device 100. Note that, although the long side 30a is set to be a straight line in this embodiment, the lines 18 and 22 of the movement trajectories 12 and 14 may be used as the long side of the roadway area 30 as they are.

[0060] The short side 30b that forms the boundary of the roadway area 30 is set as a straight line based on reference points 16a, 20a, 16c, and 20b. The short side 30b between reference points 16a and 20a indicates the position of the crosswalk 6 ( FIG. 4 ). The short side 30b indicates the long side of the crosswalk 6 that is on the first extension direction E1 side. The short side 30b between reference points 16c and 20c indicates the position at a distance L from the crosswalk 6.

[0061] The operator determines the long side 30a and the short side 30b based on the movement trajectories 12, 14 displayed on the display portion 202a of the display device 202, and determines the boundary position of the roadway area 30. The boundary position of the roadway area 30 determined by the operator is a position in a two-dimensional orthogonal coordinate system representing the road surface. The setting support device 100 accepts the boundary position of the roadway area 30 as a position in the two-dimensional orthogonal coordinate system (step S23 in FIG. 5).

[0062] Next, the setting support device 100 receives the number of lanes of the roadway 3A from the operator and performs a process of dividing the roadway area 30 (step S24 in FIG. 5). The setting support device 100 outputs to the display device 202 a display that can receive operation input for inputting the number of lanes of the roadway 3A. The setting support device 100 receives operation input from the operator via the input device 201 and obtains the number of lanes of the roadway 3A.

[0063] After obtaining the number of lanes on the roadway 3A, the setting assistance device 100 divides the roadway area 30 by the number of lanes. FIG. 8 is a diagram showing an example of the divided roadway area 30. FIG. 8 shows a case where the roadway area 30 in FIG. 7 is divided into five parts. The setting assistance device 100 divides the roadway area 30 equally along the long side 30a by the number of lanes. As a result, the roadway area 30 is divided into five lane areas 31, 32, 33, 34, and 35 (divided areas). The lane areas 31, 32, 33, 34, and 35 represent the five lanes included in the roadway 3A. As a result, the setting assistance device 100 includes the five lane areas in the roadway area 30.

[0064] Next, the setting assistance device 100 receives the vehicle driving direction for each of the five lane areas and performs a process of setting the vehicle driving direction for each of the five lane areas (step S25 in FIG. 5 ). The setting assistance device 100 outputs a display that can receive operation input for inputting the vehicle driving direction for each of the five lane areas. The setting assistance device 100 receives operation input from the operator via the input device 201 and obtains the vehicle driving direction for each of the five lane areas.

[0065] For example, the setting assistance device 100 can accept input of an arrow Y indicating the vehicle travel direction for each of the five lane areas in FIG. 8 . The arrow Y includes an arrow Y1 pointing in the inflow direction (second extension direction E2) and an arrow Y2 pointing in the outflow direction (first extension direction E1). The operator selects one of the two arrows and inputs it as the arrow Y. By inputting the arrow Y, the setting assistance device 100 accepts the vehicle travel direction for each of the five lane areas. In FIG. 8 , the arrow Y1 is set for lane areas 31, 32, and 33, and the arrow Y2 is set for lane areas 34 and 35.

[0066] Next, the setting support device 100 sets the stop line (step S26 in FIG. 5 ). The setting support device 100 outputs a display that can accept an operation input for inputting the position of the stop line. The setting support device 100 accepts an operation input by the operator via the input device 201 and acquires the position of the stop line defined by the operator. In FIG. 8 , the reference point 16b in the display portion 202a indicates a position corresponding to position P2 ( FIG. 4 ). In other words, the reference point 16b indicates the position of the stop line 8 ( FIG. 4 ). The operator then defines a line segment 30c within the roadway area 30 using the reference point 16b as a landmark. For example, the operator may define the line segment 30c so that it is perpendicular to the long side 30a. Furthermore, if a pair of points indicating the positions of both ends of the stop line 8 are displayed on the display portion 202a, the operator may define the line segment 30c so that the pair of points connects the pair of points.

[0067] In this way, the display portion 202a displays the roadway area 30, which is bounded by the long side 30a and the short side 30b and includes five lane areas, the vehicle travel direction of each lane, and the line segment 30c indicating the stop line. The roadway area 30 set in this way corresponds to the roadway portion 3p.

[0068] Next, the setting assistance device 100 converts the position information indicating the roadway area 30 including the line segment 30c into the polar coordinate system used in the object detection sensor 1 (step S27 in FIG. 5), and ends the process.

[0069] As shown in FIG. 3 , upon completing the setting assistance process, the setting assistance device 100 provides setting information to the object detection sensor 1 (step S6 in FIG. 3 ). The setting information includes position information indicating the roadway area 30 including the line segment 30c converted into a polar coordinate system, and information indicating the vehicle travel direction set for each lane area. The object detection sensor 1 reflects the setting information in the detection range A (step S7 in FIG. 3 ). In this way, the setting assistance device 100 provides the setting information to the object detection sensor 1, and sets the roadway area 30 within the detection range A.

[0070] Next, the operation mode of the object detection sensor 1 is switched from the setting mode to the operation mode, and operation of the object detection sensor 1 is started (step S8 in FIG. 3). Even after operation has started, the detection results from the object detection sensor 1 are provided to the setting assistance device 100 at predetermined time intervals (step S9 in FIG. 3).

[0071] When the setting assistance device 100 acquires the detection results from the object detection sensor 1, it performs an adjustment process (step S10 in FIG. 3 ). The adjustment process is a process of adjusting the lane areas based on the acquired detection results. FIG. 9 is a diagram for explaining the adjustment process. In FIG. 9 , the display portion 202a displays an object movement trajectory 40 obtained from the detection results, superimposed on the roadway area 30. The adjustment process is a process of adjusting the shapes of the five lane areas 31, 32, 33, 34, and 35 included in the roadway area 30 based on this movement trajectory.

[0072] If the movement trajectory 40 significantly deviates from the current five lane areas, the shapes of the five lane areas are adjusted in accordance with the movement trajectory 40. The adjustment process may be performed by the setting assistance device 100 or by an operator. When performed by the operator, the setting assistance device 100 outputs a display that can accept operation input for inputting the position of each lane area. The setting assistance device 100 accepts operation input by the operator via the input device 201 and acquires the adjusted position of each lane area.

[0073] As shown in FIG. 3 , after completing the adjustment process, the setting assistance device 100 provides setting information to the object detection sensor 1 (step S11 in FIG. 3 ). As in step S6, the setting information includes position information indicating the corrected roadway area 30 converted into a polar coordinate system, and information indicating the vehicle travel direction set for each lane area. The object detection sensor 1 reflects the setting information in the detection range A (step S12 in FIG. 3 ). If lane area adjustment is not required, the setting information is not provided to the object detection sensor 1.

[0074] In this embodiment, the setting assistance device 100 performs the following processes: acquires position information of workers M1 and M2 (objects) moving along the edges 3A1 and 3A2 on both sides of the width direction W of the roadway 3A (step S21 in Figure 5); displays, based on the position information, the movement trajectories 12 and 14 of workers M1 and M2 when the road surface is represented in a two-dimensional Cartesian coordinate system on the display device 202 (step S22 in Figure 5); receives from the operator the boundary positions of the roadway area 30, which are determined by the operator based on the movement trajectories 12 and 14 displayed on the display device 202 (step S23 in Figure 5); and sets the roadway area 30 within the detection range A based on the boundary positions (step S26 in Figure 5, step S6 in Figure 3).

[0075] According to the above configuration, when setting the roadway area 30, the movement trajectories 12, 14 of the workers M1, M2 moving along the edges 3A1, 3A2 of the roadway 3A can be displayed on the display device 202 as markers indicating the edges 3A1, 3A2 of the roadway 3A when the road surface is represented in a two-dimensional orthogonal coordinate system, and output to the operator. As a result, it becomes easy for the operator to set the roadway area 30 for the detection range A.

[0076] In this embodiment, the workers M1 and M2, who are objects, move along the sidewalk 4A along the edges 3A1 and 3A2, and the distance d between the workers M1 and M2 and the edges 3A1 and 3A2 is maintained at a predetermined value while the workers M1 and M2 are moving. Therefore, even if the workers M1 and M2 move along the sidewalk 4A, the movement trajectories 12 and 14 can indicate the relative positions of the edges 3A1 and 3A2. Therefore, the workers M1 and M2 do not need to enter the roadway 3A.

[0077] In this embodiment, the setting assistance device 100 further executes a process of receiving the number of lanes of the roadway 3A from the operator and a process of dividing the roadway area 30 into a plurality of divided areas based on the number of lanes (step S24 in FIG. 5 ). As a result of this process, the roadway area 30 includes a plurality of lane areas 31, 32, 33, 34, and 35 (divided areas). In this case, by inputting the number of lanes of the roadway 3A by operation input by the operator, lane areas corresponding to the plurality of lanes can be set in the roadway area 30.

[0078] In this embodiment, the setting assistance device 100 executes a process for setting the vehicle travel direction for each lane area, and the process for setting the vehicle travel direction includes a process for receiving the vehicle travel direction for each lane area from the operator and a process for setting the received vehicle travel direction for each lane area (step S25 in FIG. 5). In this case, the vehicle travel direction for each lane area is provided by an operation input from the operator, which makes it easy to set the vehicle travel direction for each lane area.

[0079] Furthermore, in this embodiment, after the process of setting the roadway area 30, an adjustment process (step S10 in Figure 3) is executed, and each lane area is adjusted based on the detection results of the object detection sensor 1. This makes it possible to improve the degree of correspondence between the multiple lanes on the roadway 3A and each lane area set in the detection range A after each lane area is set.

[0080] In this embodiment, workers M1 and M2 perform actions displayed on the display device 202 as unique trajectories at predetermined positions along the edges 3A1 and 3A2. The setting assistance device 100 also executes the following processes: accepting, from the operator, the positions of workers M1 and M2 determined by the operator as reference points where the workers M1 and M2 performed the actions based on the movement trajectories 12 and 14 displayed on the display device 202; and displaying the positions of the reference points on the display device 202. This allows the operator to accept, as a reference point, predetermined positions along the edges 3A1 and 3A2 based on an input from the operator and display the reference points on the display device 202, thereby allowing the operator to refer to the reference points when setting the roadway area 30. The predetermined positions include positions along the edges 3A1 and 3A2 that correspond to the position of the stop line 8 on the roadway 3A, and positions along the edges 3A1 and 3A2 that correspond to the position of the crosswalk 6 on the roadway 3A.

[0081] 10 is a diagram showing a part of the setting support process according to a modified example, and shows a different aspect of step S22 in FIG. 5. Movement trajectories 12 and 14 are trajectories taken by workers M1 and M2 when they are walking. Therefore, when there is an obstacle such as a roadside tree in the path of workers M1 and M2, workers M1 and M2 may deviate from the route they should be taking and take a detour.

[0082] Therefore, the setting assistance device 100 first calculates an actual movement trajectory based on the detection result of the object detection sensor 1 and displays it on the display portion 202a of the display device 202 (step S221 in FIG. 10). FIG. 11 is an enlarged view of a portion of the movement trajectory 14. In FIG. 11, point 20d indicates the position of the worker M2 when the worker M2 deviates from the route he or she should have taken and makes a detour. Therefore, the actual movement trajectory 141 in FIG. 11 is partially curved.

[0083] Next, the setting support device 100 executes a process of accepting a correction trajectory determined by the operator (step S222 in FIG. 10 ). The setting support device 100 outputs a display on the display device 202 that can accept an operation input for inputting a correction trajectory. The setting support device 100 accepts an operation input by the operator via the input device 201 and acquires a correction trajectory. For example, as shown in FIG. 11 , the operator inputs a correction point 20e in place of point 20d. The operator determines the position of correction point 20e by referring to other points 20 included in the actual movement trajectory. Upon accepting correction point 20e, the setting support device 100 obtains a correction trajectory in which a portion of the actual movement trajectory 141 is replaced with a correction line 44.

[0084] When the correction point 20e is received and the corrected trajectory is obtained, the setting assistance device 100 proceeds to step S223 in FIG. 10, displays the corrected trajectory as the movement trajectory 14 in the display portion 202a instead of the actual movement trajectory 141, and ends the process.

[0085] In this case, even if noise is included in the actual trajectory, it is possible to obtain a trajectory from which the noise has been removed. In addition, in this case, a corrected trajectory provided by an operator's input can be accepted, and the corrected trajectory can also be used to determine the trajectory 14.

[0086] 12 is a diagram showing a part of the setting support process according to another modification. This modification differs from the above embodiment in that the location information of the workers M1 and M2 is acquired by GPS. In this modification, the workers M1 and M2 carry a GPS receiver and a transmitting device that transmits the location information acquired by the GPS receiver to the setting support device 100.

[0087] The setting support device 100 acquires GPS position information transmitted from the workers M1 and M2 (step S211 in FIG. 12 ), and displays the movement trajectories 12 and 14 on the display device 202. In this modified example, as in the above embodiment, displaying the movement trajectories 12 and 14 on the display device 202 makes it easy for the operator to set the roadway area 30 for the detection range A.

[0088] [Others] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. In the above embodiments, the roadway area 30 is set in an area corresponding to the roadway portion 3p within the detection range A. However, a similar detection area may also be set for the sidewalk 4. In addition, the above embodiments illustrate the case where the workers M1 and M2 move on foot along the sidewalk 4A. However, the workers M1 and M2 may also move on a vehicle such as a bicycle. Furthermore, instead of the workers M1 and M2 as objects, a self-propelled vehicle capable of self-propelling along a predetermined route may be used. In this case, the movement trajectories 12 and 14 can be obtained more accurately than when the workers M1 and M2 move on foot.

[0089] Furthermore, when workers M1 and M2 travel on vehicles such as bicycles, workers M1 and M2 as objects may travel along the edges 3A1 and 3A2 of the roadway 3A.

[0090] In addition, in each of the above-described embodiments, the object detection sensor 1 is a millimeter-wave radar. However, the present invention is not limited to this, and a light detection and ranging (LiDAR) sensor may also be used as the object detection sensor 1.

[0091] The scope of the present invention is defined by the claims, not by the meaning described above, and is intended to include meanings equivalent to the claims and all modifications within the scope thereof.

[0092] REFERENCE SIGNS LIST 1 object detection sensor 2 road 3 roadway 3A roadway 3A1 edge 3A2 edge 3p roadway portion 4 sidewalk 4A sidewalk 5 antenna parts 6 crosswalk 7 center line 8 stop line 12, 14 movement trajectory 16 points 16a, 16b, 16c reference point 18 line 20 points 20a, 20b, 20c reference point 20e correction point 22 line 30 roadway area (road area) 30a long side 30b short side 30c line segment 31, 32, 33, 34, 35 lane area 44 correction line 50 structure 51 pole 52 arm 100 setting support device 101 processor 102 non-volatile memory 103 volatile memory 104 input / output interface 105 Graphic controller 106 Communication I / F 107 Setting support program 141 Actual movement trajectory 201 Input device 202 Display device 202a Display portion A Detection range I Intersection M1 Worker M2 Worker

Claims

1. A setting assistance device for setting a road area within the detection range of an object detection sensor, comprising a processing unit that executes the following processes: a process of acquiring position information of an object moving along both edges of the road in the width direction within the detection range; a process of displaying the movement trajectory of the object on a display device based on the position information; a process of accepting the boundary position of the road area determined based on the movement trajectory displayed on the display device; and a process of setting the road area within the detection range based on the boundary position.

2. The setting support device according to claim 1, wherein the road includes a roadway.

3. The setting assistance device described in claim 2, wherein the processing unit further executes a process of accepting the number of lanes of the road, and a process of dividing the road area determined by the boundary position into a plurality of divided areas based on the number of lanes, and the road area set in the detection range includes the plurality of divided areas.

4. The setting assistance device according to claim 3, wherein the processing unit further executes a process of setting the vehicle driving direction for the plurality of lane areas.

5. The setting assistance device according to claim 4, wherein the process of setting the vehicle driving direction includes: a process of accepting the vehicle driving direction for the plurality of lane areas; and a process of setting the accepted vehicle driving direction for the plurality of lane areas.

6. The setting assistance device described in any one of claims 3 to 5, wherein the processing unit further executes, after the process of setting the road area, a process of acquiring the detection results of the object detection sensor that detected a moving object in the multiple lane areas, and a process of adjusting the multiple lane areas based on the acquired detection results.

7. A setting assistance device as described in any one of claims 1 to 6, wherein the process of displaying the movement trajectory of the object includes a process of determining an actual movement trajectory based on the position information, and a process of correcting the actual movement trajectory to determine the movement trajectory.

8. The setting assistance device according to claim 7, wherein the process of correcting the actual movement trajectory to determine the movement trajectory includes: a process of displaying the actual movement trajectory when expressed in a two-dimensional Cartesian coordinate system on the display device; a process of accepting a corrected trajectory determined based on the actual movement trajectory displayed on the display device; and a process of determining the corrected trajectory as the movement trajectory.

9. A setting assistance device as described in any one of claims 1 to 8, wherein the object is configured to perform an action that is displayed on the display device as a unique trajectory at a predetermined position along the edge, and the processing unit further performs the following processes: accepting, as a reference point, the position of the object at which it is determined that the object has performed the action based on the movement trajectory displayed on the display device; and displaying the position of the reference point on the display device.

10. The setting assistance device described in claim 9, wherein the predetermined position includes at least one of a position along the edge that corresponds to the position of a stop line on the road, and a position along the edge that corresponds to the position of a pedestrian crossing on the road.

11. A setting assistance device as described in any one of claims 1 to 10, wherein the object is an object moving on another road along the edge, and the distance between the object and the edge while the object is moving is maintained at a predetermined value.

12. A setting assistance device as described in any one of claims 1 to 10, wherein the object is an object that moves along the edge of the road.

13. A setting assistance device as described in any one of claims 1 to 12, wherein the position information is position information based on the detection result when the object is detected by the object detection sensor.

14. A setting assistance device according to any one of claims 1 to 12, wherein the location information is location information obtained by GPS.

15. A setting assistance method for setting a road area within the detection range of an object detection sensor, comprising: a step of acquiring position information of an object moving along both widthwise edges of the road within the detection range; a step of displaying the movement trajectory of the object on a display device based on the position information; a step of accepting a boundary position of the road area determined based on the movement trajectory displayed on the display device; and a step of setting the road area within the detection range based on the boundary position.

16. A computer program for causing a computer to execute a setting support process for setting a road area within the detection range of an object detection sensor, the computer executing the following steps: acquiring position information of an object moving along both widthwise edges of the road within the detection range; displaying the movement trajectory of the object on a display device based on the position information; accepting the boundary position of the road area determined based on the movement trajectory displayed on the display device; and setting the road area within the detection range based on the boundary position.

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