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 a movement trajectory of one or more objects moving on a road including a crosswalk, the movement trajectory being detected by a radio wave sensor; an identification unit that identifies, from the movement trajectory of the one or more objects acquired by the acquisition unit, a target movement trajectory of a target object that moves continuously in a specific movement pattern; a first determination unit that determines, on the basis of the target movement trajectory in a coordinate space set in the radio wave sensor, a definition point that defines a detection area corresponding to the crosswalk in the coordinate space; and a second determination unit that determines the detection area in the coordinate space on the basis of the definition point determined by the first determination unit.

Description

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

[0001] This disclosure relates to a radio wave sensor setting support device, a radio wave sensor setting support method, and a computer program. This application claims priority to Japanese Application No. 2024-091204, filed on June 5, 2024, and incorporates by reference the entire contents of that Japanese application.

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

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

[0004] A radio wave sensor setting assistance device according to one aspect of the present disclosure includes an acquisition unit that acquires movement trajectories of one or more objects moving on a road including a crosswalk, detected by the radio wave sensor; an identification unit that identifies a target movement trajectory of a target object that moves continuously in a specific movement pattern from the movement trajectories of the one or more objects acquired by the acquisition unit; a first determination unit that determines, in a coordinate space set in the radio wave sensor, a definition point that defines a detection area corresponding to the crosswalk, based on the target movement trajectory in the coordinate space; and a second determination unit that determines the detection area in the coordinate space based on the definition point determined by the first determination unit.

[0005] FIG. 1 is a diagram illustrating an example of how an infrastructure radio wave sensor according to the first embodiment is used. FIG. 2 is a perspective view illustrating an example of the external configuration of the infrastructure radio wave sensor according to the first 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 assistance device according to the first embodiment. FIG. 5 is a functional block diagram illustrating an example of the functions of the setting assistance device according to the first embodiment. FIG. 6A is a diagram illustrating a first movement pattern. FIG. 6B is a diagram illustrating a second movement pattern. FIG. 6C is a diagram illustrating a third movement pattern. FIG. 6D is a diagram illustrating a fourth movement pattern. FIG. 7A is a diagram illustrating an example of a detection result of a movement trajectory of an object that has moved according to the first movement pattern. FIG. 7B is a diagram illustrating an example of a detection result of a movement trajectory of an object that has moved according to the second movement pattern. FIG. 7C is a diagram illustrating an example of a detection result of a movement trajectory of an object that has moved according to the third movement pattern. FIG. 7D is a diagram illustrating an example of a detection result of a movement trajectory of an object that has moved according to the fourth movement pattern. FIG. 8A is a diagram illustrating a first example of creating an auxiliary line. FIG. 8B is a diagram showing a second example of creating auxiliary lines. FIG. 8C is a diagram showing a third example of creating auxiliary lines. FIG. 8D is a diagram showing a fourth example of creating auxiliary lines. FIG. 9A is a diagram showing a first example of determining a detection area based on definition points. FIG. 9B is a diagram showing a second example of determining a detection area based on definition points. FIG. 10 is a flowchart showing an example of configuration support operation for an infrastructure radio wave sensor by the configuration support device according to the first embodiment. FIG. 11 is a functional block diagram showing an example of the functions of the configuration support device according to the second embodiment. FIG. 12A is a diagram showing a first example of the arrangement of auxiliary figures. FIG. 12B is a diagram showing a second example of the arrangement of auxiliary figures. FIG. 12C is a diagram showing a third example of the arrangement of auxiliary figures. FIG. 12D is a diagram showing a fourth example of the arrangement of auxiliary figures. FIG. 13 is a flowchart showing an example of configuration support operation for an infrastructure radio wave sensor by the configuration support device according to the second embodiment.

[0006] In order to accurately detect pedestrians on a crosswalk, the detection area must be accurately aligned with the crosswalk. Conventionally, to set the detection area, workers would measure the position of the crosswalk and the distance from the radio wave sensor, or install reflectors on the crosswalk that could be detected by the radio wave sensor, but this work required a large number of people and was time-consuming.

[0007] According to the present disclosure, it is possible to assist in setting a detection area that is accurately associated with a crosswalk.

[0008] The following provides an outline of embodiments of the present disclosure.

[0009] (1) A radio wave sensor setting assistance device according to this embodiment includes an acquisition unit that acquires movement trajectories of one or more objects detected by the radio wave sensor and moving on a road including a crosswalk, an identification unit that identifies a target movement trajectory of a target object that moves continuously in a specific movement pattern from the movement trajectories of the one or more objects acquired by the acquisition unit, a first determination unit that determines, in a coordinate space set in the radio wave sensor, a definition point that defines a detection area corresponding to the crosswalk based on the target movement trajectory in the coordinate space, and a second determination unit that determines the detection area in the coordinate space based on the definition point determined by the first determination unit. This makes it possible to assist in setting a detection area that accurately corresponds to a crosswalk.

[0010] (2) In the above (1), the detection area may be a polygon, and the defining points may be vertices of the polygon. This allows the detection area to be accurately associated with the polygonal pedestrian crossing.

[0011] (3) In the above (1) or (2), the identification unit may display the target trajectory and trajectories other than the target trajectory on the display device in a manner that allows the target trajectory to be distinguished from trajectories other than the target trajectory in the coordinate space. This allows a user to recognize the target trajectory as distinguished from trajectories other than the target trajectory.

[0012] (4) In any one of (1) to (3) above, the specific movement pattern may include at least one of a movement pattern of continuously moving around the perimeter of the crosswalk and a movement pattern of continuously moving around the perimeter of a pedestrian waiting area adjacent to the crosswalk. This makes it possible to identify the movement trajectory of, for example, a worker, who is a target object, by having the worker move in at least one of a movement pattern of continuously moving around the perimeter of the crosswalk and a movement pattern of continuously moving around the perimeter of a waiting area.

[0013] (5) In any one of (1) to (3) above, the specific movement pattern may be a movement pattern in which the target object, for example, a worker, moves along two opposing sides and two diagonals of the crosswalk. This makes it possible to identify the movement trajectory of the worker by determining that the target object, for example, a worker, moves along two opposing sides and two diagonals of the crosswalk.

[0014] (6) In any one of (1) to (3) above, the specific movement pattern may include at least one of a movement pattern of traveling back and forth along each of two opposing sides of the crosswalk and a movement pattern of traveling back and forth along each of two opposing sides of the waiting area. This makes it possible to identify the movement trajectory of, for example, a worker, who is a target object, by having the worker move according to at least one of a movement pattern of traveling back and forth along each of two opposing sides of the crosswalk and a movement pattern of traveling back and forth along each of two opposing sides of the waiting area.

[0015] (7) In any one of (1) to (6) above, the radio wave sensor setting assistance device may further include a creation unit that creates an auxiliary line for determining the definition point based on the target movement trajectory identified by the identification unit, and the first determination unit may determine the definition point in the coordinate space based on the auxiliary line created by the creation unit. For example, even if an object moves linearly, the detected movement trajectory may not be linear due to detection error by the radio wave sensor. Therefore, by creating the auxiliary line, the influence of the detection error can be reduced and the definition point can be determined.

[0016] (8) In the above (7), the creation unit may create the auxiliary line at a position in the coordinate space designated by a user based on the target movement trajectory displayed on a display device. This allows the auxiliary line to be created at an appropriate position designated by the user where the auxiliary line should be created.

[0017] (9) In the above (7) or (8), the first determination unit may determine an intersection of two of the auxiliary lines as the definition point. For example, if the target trajectory deviates from the actual trajectory, it is difficult to determine the definition point at an appropriate position. With the above configuration, even if the target trajectory deviates from the actual trajectory, it is possible to determine the definition point at an appropriate position as long as the auxiliary line is created at an appropriate position.

[0018] (10) In the above (7) or (8), the first determination unit may determine an end point of the auxiliary line, which is a line segment, as the definition point. For example, if the target trajectory deviates from the actual trajectory, it is difficult to determine the definition point at an appropriate position. With the above configuration, even if the target trajectory deviates from the actual trajectory, it is possible to determine the definition point at an appropriate position as long as the auxiliary line is created at an appropriate position.

[0019] (11) In any one of (1) to (6) above, the radio wave sensor setting assistance device may further include a placement unit that places an auxiliary figure indicating an outer edge shape of the crosswalk so as to overlap the target movement trajectory, and the first determination unit may determine a feature point of the auxiliary figure placed by the placement unit as the definition point. For example, by placing an auxiliary figure created based on the dimensions of the crosswalk so as to overlap the target movement trajectory, it is possible to determine the definition point at an appropriate position.

[0020] (12) In the above (11), the placement unit may place the auxiliary figure at a position in the coordinate space designated by a user based on the target movement trajectory displayed on a display device. This allows the auxiliary figure to be placed at an appropriate position designated by the user where the auxiliary figure should be placed.

[0021] (13) A radio wave sensor setting support method according to this embodiment includes the steps of acquiring movement trajectories of one or more objects moving on a road including a crosswalk, detected by the radio wave sensor, identifying a target movement trajectory of a target object that continuously moves in a specific movement pattern from the acquired movement trajectories of the one or more objects, determining a definition point in a coordinate space set in the radio wave sensor that defines a detection area corresponding to the crosswalk based on the target movement trajectory in the coordinate space, and determining the detection area in the coordinate space based on the determined definition point. This makes it possible to support the setting of a detection area that accurately corresponds to the crosswalk.

[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 crosswalk, and causes a computer to execute the following steps: acquiring movement trajectories of one or more objects detected by the radio wave sensor and moving on a road that includes the crosswalk; identifying a target movement trajectory of a target object that moves continuously in a specific movement pattern from the acquired movement trajectories of the one or more objects; determining, in a coordinate space set in the radio wave sensor, a definition point that defines a detection area corresponding to the crosswalk based on the target movement trajectory in the coordinate space; and determining the detection area in the coordinate space based on the determined definition point. This makes it possible to assist in the setting of a detection area that accurately corresponds to the crosswalk.

[0023] The present disclosure can be realized not only as a radio wave sensor setting support device having the above-described characteristic configuration, a radio wave sensor setting support method having characteristic processing steps, and a computer program for causing the setting support device to execute the characteristic processing, but also as a system in which part or all of the radio wave sensor setting support device is realized as a semiconductor integrated circuit, or a system that includes the radio wave sensor setting support device as part of it.

[0024] 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. First embodiment] [1-1. Infrastructure radio wave sensor] Fig. 1 is a diagram showing an example of use of an infrastructure radio wave sensor according to a first embodiment. The infrastructure radio wave sensor 10 according to the first 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 crosswalk 20 is provided on a roadway 60 near an intersection 61. Sidewalks 63a and 63b are provided adjacent to the roadway 60. The roadway 60 includes an oncoming lane 62a through which vehicles enter the intersection 61 and an outgoing lane 62b through which vehicles exit the intersection 61. The sidewalk 63a is adjacent to the oncoming lane 62a. The sidewalk 63b is adjacent to the outgoing lane 62b.

[0027] The infrastructure radio wave sensor 10 is attached to a structure 50 provided on a sidewalk 63a. 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.

[0028] 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.

[0029] The infrastructure radio wave sensor 10 sets a detection area 30, which is a range on a road for detecting objects. In FIG. 1 , the detection area 30 is depicted as if it exists in real space, but the detection area 30 is information set within the infrastructure radio wave sensor 10 and is a virtual area. 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; it 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.

[0030] For example, the infrastructure radio wave sensor 10 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 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 walk on the crosswalk).

[0031] FIG. 2 is a perspective view showing an example of the external configuration of the infrastructure radio wave sensor 10 according to the first 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.

[0032] 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.

[0033] 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.

[0034] FIG. 3 is a diagram for explaining an example of setting a detection area in a sensor coordinate system.

[0035] 3, the point indicated by the reference symbol 31O is a point on the ground surface that is a vertically downward projection of 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 31O.

[0036] 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 31O. 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.

[0037] 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, for example, an area that includes a crosswalk 20. Note that hereinafter, the detection area set as internal information in the infrastructure radio wave sensor 10 is indicated by the reference numeral 300, and the detection area in real space that reflects the detection area 300 is indicated by the reference numeral 30.

[0038] The detection area 30 is divided into a zebra area 30_1, which is the area of ​​the crosswalk 20, and waiting areas 30_2 and 30_3, which are provided on both ends of the zebra area 30_1. The waiting areas 30_2 and 30_3 are areas that extend from the zebra area 30_1 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.

[0039] The detection area 300 in the sensor coordinate space is divided into a zebra area 300_1 and waiting areas 300_2 and 300_3. The zebra area 300_1 corresponds to the zebra area 30_1 in the real space. The waiting area 300_2 corresponds to the waiting area 30_2 in the real space, and the waiting area 300_3 corresponds to the waiting area 30_3 in the real space.

[0040] [1-2. Configuration of the Setting Support Device] Fig. 4 is a block diagram showing an example of the hardware configuration of the setting support device according to the first embodiment. The setting support device 100 according to the first embodiment is used by a user who sets the detection area 30 of the infrastructure radio wave sensor 10. The setting support device 100 includes a processor 101, a non-volatile memory 102, a volatile memory 103, an input / output interface 104, a graphics controller 105, and a communication interface 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.

[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. Each function of the setting assistance device 100 is realized when the setting assistance program 107 is executed by the processor 101. The setting assistance program 107 can be stored in a recording medium such as a flash memory, a ROM, or a CD-ROM. The processor 101 uses the setting assistance program 107 to assist the user in setting the detection area 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 processing similar to that of 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 assistance device according to the first embodiment. When the processor 101 executes the setting assistance program 107, the setting assistance device 100 functions as an acquisition unit 111, an identification unit 112, a creation unit 113, a first determination unit 114, a second determination 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 a detection area in the infrastructure radio wave sensor 10. The operation mode is an operation mode for detecting objects for traffic monitoring after the detection area has been set.

[0048] When setting a detection area, the infrastructure radio wave sensor 10 is started in a setting mode. The setting assistance device 100 communicates with the infrastructure radio wave sensor 10 operating in the setting mode and sets the detection area.

[0049] In the setting mode, the infrastructure radio wave sensor 10 detects an object to set a detection area. Referring to Fig. 2, the infrastructure radio wave sensor 10 emits radio waves from the transmitting antenna 15a and receives reflected waves of the radio waves from 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] In a specific example, the infrastructure radio wave sensor 10 in the setting mode detects an object on a road during a certain detection period. For example, the detection period is from one second to one hour. The infrastructure radio wave sensor 10 continuously detects the positions of reflection points during the detection period. The detection result output from the infrastructure radio wave sensor 10 includes coordinate values ​​of all reflection points detected during the detection period. The acquisition unit 111 acquires the detection result of the infrastructure radio wave sensor 10 detecting an object during the detection period.

[0053] The infrastructure radio wave sensor 10 has a tracking function for tracking detected objects. The tracking function tracks moving objects and detects the object's movement trajectory. Specifically, the infrastructure radio wave sensor 10 assigns an ID to each detected object. The detection circuit 17 detects the position and speed of the object at regular time intervals. The infrastructure radio wave sensor 10 identifies currently detected objects that are the same as the previously detected object. For example, the infrastructure radio wave sensor 10 estimates the current position of object a based on the previous movement direction and speed of object a. Among the currently detected objects, the infrastructure radio wave sensor 10 identifies the object closest to the position estimated from the previous movement direction and speed of object a as object a. An object identified as the same as the previously detected object retains the ID of the previously detected object. For example, the infrastructure radio wave sensor 10 outputs detection data that associates the object ID with the object's position and speed. In another example, the infrastructure radio wave sensor 10 may output movement trajectory data indicating the movement trajectory of each object detected during the detection period.

[0054] The acquisition unit 111 acquires movement trajectories of one or more objects moving on a road including the crosswalk 20, detected by the infrastructure radio wave sensor 10. For example, the acquisition unit 111 receives detection data output from the infrastructure radio wave sensor 10 and stores the detection data for a detection period. The acquisition unit 111 generates a movement trajectory for each object from the stored detection data for the detection period. That is, the acquisition unit 111 connects the positions of objects assigned the same ID in chronological order to generate the movement trajectory of the object. In another example, the acquisition unit 111 can acquire the movement trajectory of the object by receiving movement trajectory data output from the infrastructure radio wave sensor 10.

[0055] The identifying unit 112 identifies a target movement trajectory of a target object (for example, a worker) that moves continuously in a specific movement pattern from the movement trajectories of one or more objects acquired by the acquiring unit 111 .

[0056] The detection results of the infrastructure radio wave sensor 10 may contain errors. Therefore, even if the worker moves in a straight line, the movement trajectory detected by the infrastructure radio wave sensor 10 will zigzag. Therefore, to make it easier to distinguish the worker's movement trajectory from the movement trajectories of other objects (e.g., pedestrians or vehicles), the worker moves according to a characteristic movement pattern (specific movement pattern). The specific movement pattern is a movement pattern for setting a detection area. More specifically, it is a movement pattern that differs from natural traffic flow (i.e., different from normal movement). The setting assistance device 100 stores information about the specific movement pattern in advance. The identification unit 112 compares the movement trajectory acquired by the acquisition unit 111 with the specific movement pattern, and if the movement trajectory matches the specific movement pattern, identifies the movement trajectory as a target movement trajectory.

[0057] Here, the movement trajectory refers to the path along which an object moves. For example, the movement trajectory does not include time information. In other words, if an object stops during its movement, the movement trajectory of the object does not need to include information indicating the object's stopping. For example, the movement trajectory is graphic information indicating the shape of the path along which the object moved. Because the detection results of the infrastructure radio wave sensor 10 may contain errors, it is difficult for the infrastructure radio wave sensor 10 to accurately detect the object in the same position even if the object stops. For this reason, in the first embodiment, the trajectory of the continuous movement of a worker according to a specific movement pattern is the target movement trajectory described below. Here, the "continuous movement trajectory" refers to a movement trajectory (target movement trajectory) based on the worker (target object) moving without stopping (the position of the target object sequentially changes over time). Note that the "continuous movement trajectory" may refer to a target movement trajectory described below in which the target object moves continuously at least in a portion of the trajectory that includes a definition point of the detection area. Furthermore, a trajectory that moves back and forth in a manner that includes end points corresponding to definition points, such as in the second and third examples described below, also corresponds to a “trajectory that moves continuously.” The identification unit 112 can accurately determine the pattern in which the object has moved based on the movement trajectory, which is graphic information.

[0058] (First Example) A first example of determining the detection area will be described below.

[0059] For example, the specific movement pattern includes a first movement pattern in which a person moves along each of two opposing sides and two diagonals of the crosswalk 20. Fig. 6A is a diagram illustrating the first movement pattern. The first movement pattern is a combination of pattern 201A in which a person moves along a first side edge extending in the longitudinal direction of the crosswalk 20 (i.e., the direction connecting sidewalks 63a and 63b), pattern 201B in which a person moves along a second side edge (the side edge opposite the first side edge) extending in the longitudinal direction of the crosswalk 20, pattern 201C in which a person moves along the first diagonal of the crosswalk 20, and pattern 201D in which a person moves along the second diagonal of the crosswalk 20.

[0060] For example, the worker moves according to pattern 201A. That is, the worker moves along the first side edge of the crosswalk 20 from sidewalk 63b to sidewalk 63a (i.e., in the direction approaching the infrastructure radio wave sensor 10). Furthermore, the worker moves according to pattern 201B. That is, the worker moves along the second side edge of the crosswalk 20 from sidewalk 63b to sidewalk 63a. Furthermore, the worker moves according to pattern 201C. That is, the worker moves along the first diagonal of the crosswalk 20 from sidewalk 63b to sidewalk 63a. Furthermore, the worker moves according to pattern 201D. That is, the worker moves along the second diagonal of the crosswalk 20 from sidewalk 63b to sidewalk 63a. However, the worker does not have to move in the order of patterns 201A, 201B, 201C, and 201D.

[0061] The infrastructure radio wave sensor 10 detects an object on the crosswalk 20 while a worker is moving according to a specific movement pattern. FIG. 7A illustrates an example of the detection results of the movement trajectory of an object moving according to a first movement pattern. For simplicity, it is assumed here that the longitudinal direction of the crosswalk 20 coincides with the direction of the projection central axis (i.e., the Y-axis direction in the sensor coordinate space). For example, the identification unit 112 identifies two movement trajectories 211A and 211B, which are spaced a certain distance apart in the X-direction, among the movement trajectories extending linearly in the Y-direction, as the trajectories of the worker moving according to patterns 201A and 201B. Furthermore, the identification unit 112 identifies movement trajectory 211C, which is inclined at a certain angle with respect to the Y-direction, as the trajectory of the worker moving according to pattern 201C, and movement trajectory 211D, which is inclined at a certain angle on the opposite side of movement trajectory 211C with respect to the Y-direction, as the trajectory of the worker moving according to pattern 201D. That is, the identification unit 112 identifies the movement trajectories 211A, 211B, 211C, and 211D as the target movement trajectories. In Fig. 7A, the movement trajectories 211E and 211F are movement trajectories of a pedestrian other than the worker.

[0062] For example, the identification unit 112 displays the target movement trajectories 211A, 211B, 211C, and 211D and the movement trajectories 211E and 211F other than the target movement trajectories 211A, 211B, 211C, and 211D on the display device 202 in a manner that allows them to be distinguished from one another in the sensor coordinate space. In a specific example, the identification unit 112 displays the target movement trajectories 211A, 211B, 211C, and 211D and the movement trajectories 211E and 211F in different colors. For example, the target movement trajectories 211A, 211B, 211C, and 211D are displayed in red, and the movement trajectories 211E and 211F are displayed in blue. In another example, the target movement trajectories 211A, 211B, 211C, and 211D and the movement trajectories 211E and 211F are displayed in different line types. For example, the target movement trajectories 211A, 211B, 211C, and 211D are solid lines, and the movement trajectories 211E and 211F are dashed lines. In yet another example, the target movement trajectories 211A, 211B, 211C, and 211D and the movement trajectories 211E and 211F are displayed with lines of different thicknesses. For example, the target movement trajectories 211A, 211B, 211C, and 211D are displayed with thick lines, and the movement trajectories 211E and 211F are displayed with thin lines. This allows the user to easily distinguish between the target movement trajectories 211A, 211B, 211C, and 211D identified by the identification unit 112 and the movement trajectories 211E and 211F.

[0063] 5 , the creation unit 113 creates an auxiliary line for determining a definition point that defines the detection area 300, based on the target movement trajectory identified by the identification unit 112. In a specific example, the creation unit 113 creates the auxiliary line at a position in the coordinate space designated by the user based on the target movement trajectory displayed on the display device 202.

[0064] 8A is a diagram showing a first example of the creation of an auxiliary line. FIG. 8A shows the creation of an auxiliary line based on the target movement trajectories 211A, 211B, 211C, and 211D shown in FIG. 7A. As described above, the target movement trajectories 211A, 211B, 211C, and 211D are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate values) at which the auxiliary line is to be created. For example, the user may specify the coordinate values ​​of any two points through which the auxiliary line passes, or may specify any one point through which the auxiliary line passes and the inclination of the auxiliary line with respect to the Y axis.

[0065] 8A , the auxiliary lines are straight lines that approximate the object movement trajectories 211A, 211B, 211C, and 211D. That is, the user specifies a position near the object movement trajectory 211A, and the creation unit 113 creates an auxiliary line 221A that follows the object movement trajectory 211A. The user specifies a position near the object movement trajectory 211B, and the creation unit 113 creates an auxiliary line 221B that follows the object movement trajectory 211B. The user specifies a position near the object movement trajectory 211C, and the creation unit 113 creates an auxiliary line 221C that follows the object movement trajectory 211C. The user specifies a position near the object movement trajectory 211D, and the creation unit 113 creates an auxiliary line 221D that follows the object movement trajectory 211D.

[0066] 5 , the first determination unit 114 determines, in the sensor coordinate space, a definition point that defines a detection area corresponding to the crosswalk 20, based on the target movement trajectory in the sensor coordinate space. In a specific example, the first determination unit 114 determines the intersection point of two auxiliary lines as the definition point.

[0067] 8A , the first determination unit 114 determines a definition point 231A, which is the intersection of the auxiliary lines 221A and 221C. The first determination unit 114 determines a definition point 231B, which is the intersection of the auxiliary lines 221B and 221D. The first determination unit 114 determines a definition point 231C, which is the intersection of the auxiliary lines 221A and 221D. The first determination unit 114 determines a definition point 231D, which is the intersection of the auxiliary lines 221B and 221C.

[0068] 5 , the second determination unit 115 determines the detection area 300 in the sensor coordinate space based on the definition points determined by the first determination unit 114. Here, in each of the trajectory portions including the definition points 231A, 231B, 231C, and 231D, the worker moves without stopping on each of the definition points 231A, 231B, 231C, and 231D.

[0069] 9A is a diagram showing a first example of determination of a detection area based on definition points 231A, 231B, 231C, and 231D shown in FIG. 8A.

[0070] For example, the detection area 300 is a polygon. For example, the definition points 231A, 231B, 231C, and 231D are the vertices of the polygon. In the example of Fig. 9A, the detection area 300 is a quadrangle, and the definition points 231A, 231B, 231C, and 231D are the vertices of the quadrangle.

[0071] For example, the second determination unit 115 determines a polygon by connecting the definition points 231A, 231B, 231C, and 231D with line segments. In this case, the second determination unit 115 connects the definition points 231A, 231B, 231C, and 231D with line segments such that any two line segments do not intersect with each other. In other words, the second determination unit 115 determines a polygon that does not include self-intersections. In a specific example, the second determination unit 115 can determine the convex hull of the definition points 231A, 231B, 231C, and 231D.

[0072] For example, the second determination unit 115 may determine a detection area including a zebra area 300_1 and waiting areas 300_2 and 300_3. In a specific example, the second determination unit 115 may determine a polygon having four definition points 231A, 231B, 231C, and 231D as vertices as the zebra area 300_1. The second determination unit 115 may extend the zebra area 300_1 by a predetermined length in the longitudinal direction and determine two areas extended from both ends of the zebra area 300_1 as waiting areas 300_2 and 300_3.

[0073] (Second Example) A second example of determining the detection area will now be described.

[0074] For example, the specific movement pattern includes a second movement pattern in which the user travels back and forth along each of two opposing sides of the crosswalk 20. Fig. 6B is a diagram illustrating the second movement pattern. The second movement pattern is a combination of pattern 202A in which the user travels along a third side edge extending in the short direction of the crosswalk 20 (i.e., the boundary line between the crosswalk 20 and the sidewalk 63b) and pattern 202B in which the user travels along a fourth side edge extending in the short direction of the crosswalk 20 (i.e., the boundary line between the crosswalk 20 and the sidewalk 63a).

[0075] For example, the worker moves according to pattern 202A. That is, the worker moves back and forth one or more times along the third side edge of the crosswalk 20. Furthermore, the worker moves according to pattern 202B. That is, the worker moves back and forth one or more times along the fourth side edge of the crosswalk 20. However, the worker does not have to move in the order of patterns 202A and 202B. For example, the worker may move in the order of patterns 202B and 202A.

[0076] 7B is a diagram showing an example of the detection result of the movement trajectory of an object that moved according to the second movement pattern. For example, the identification unit 112 identifies two movement trajectories 212A and 212B, which move back and forth linearly in the X direction, as trajectories of a worker that moved according to patterns 202A and 202B. That is, the identification unit 112 identifies the movement trajectories 212A and 212B as target movement trajectories. In FIG. 7B, movement trajectories 212C and 212D are movement trajectories of a pedestrian other than the worker.

[0077] For example, the identification unit 112 displays the target movement trajectories 212A and 212B and the movement trajectories 212C and 212D other than the target movement trajectories 212A and 212B in a manner that allows them to be distinguished from one another on the display device 202. The manner in which the movement trajectories are displayed is the same as in the first example, and therefore description thereof will be omitted.

[0078] Fig. 8B is a diagram showing a second example of creating an auxiliary line. Fig. 8B shows the creation of an auxiliary line based on the object movement trajectories 212A and 212B shown in Fig. 7B. As described above, the object movement trajectories 212A and 212B are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate value) where the auxiliary line is to be created.

[0079] 8B , the auxiliary lines are straight lines that approximate the object movement trajectories 212A and 212B. That is, the user specifies a position near the object movement trajectory 212A, and the creation unit 113 creates the auxiliary line 222A that follows the object movement trajectory 212A. The user specifies a position near the object movement trajectory 212B, and the creation unit 113 creates the auxiliary line 222B that follows the object movement trajectory 212B.

[0080] The first determination unit 114 determines definition points 232A and 232B, which are both end points of the auxiliary line 222A. The first determination unit 114 determines definition points 232C and 232D, which are both end points of the auxiliary line 222B.

[0081] The second determination unit 115 determines the detection area 300 based on the definition points 232A, 232B, 232C, and 232D. The determination of the detection area 300 by the second determination unit 115 is the same as in the first example, and therefore description thereof will be omitted.

[0082] (Third Example) A third example of determining the detection area will now be described.

[0083] For example, the specific movement pattern includes a third movement pattern in which the robot travels back and forth between each of two opposing sides of the waiting areas 30_2 and 30_3. Fig. 6C is a diagram for explaining the third movement pattern. The third movement pattern is a combination of pattern 203A of movement along a first side edge extending in the short direction of waiting area 30_3 (i.e., a straight line extending from the first side edge of the crosswalk 20 in a direction away from the infrastructure radio wave sensor 10), pattern 203B of movement along a second side edge extending in the short direction of waiting area 30_3 (i.e., a straight line extending from the second side edge of the crosswalk 20 in a direction away from the infrastructure radio wave sensor 10), pattern 203C of movement along a first side edge extending in the short direction of waiting area 30_2 (i.e., a straight line extending from the first side edge of the crosswalk 20 in a direction approaching the infrastructure radio wave sensor 10), and pattern 203D of movement along a second side edge extending in the short direction of waiting area 30_3 (i.e., a straight line extending from the second side edge of the crosswalk 20 in a direction approaching the infrastructure radio wave sensor 10).

[0084] For example, the worker moves according to pattern 203A. That is, the worker moves back and forth one or more times along a line segment that extends a predetermined length from the first side edge of the crosswalk 20 in a direction away from the infrastructure radio wave sensor 10. Furthermore, the worker moves according to pattern 203B. That is, the worker moves back and forth one or more times along a line segment that extends a predetermined length from the second side edge of the crosswalk 20 in a direction away from the infrastructure radio wave sensor 10. Furthermore, the worker moves according to pattern 203C. That is, the worker moves back and forth one or more times along a line segment that extends a predetermined length from the first side edge of the crosswalk 20 in a direction approaching the infrastructure radio wave sensor 10. Furthermore, the worker moves according to pattern 203D. That is, the worker moves back and forth one or more times along a line segment that extends a predetermined length from the second side edge of the crosswalk 20 in a direction approaching the infrastructure radio wave sensor 10. However, the worker does not have to move in the order of patterns 203A, 203B, 203C, and 203D.

[0085] 7C is a diagram showing an example of the detection result of the movement trajectory of an object moving according to the third movement pattern. For example, the identification unit 112 identifies four movement trajectories 213A, 213B, 213C, and 213D, which move back and forth linearly in the Y direction, as trajectories of a worker moving according to patterns 203A, 203B, 203C, and 203D. That is, the identification unit 112 identifies movement trajectories 213A, 213B, 213C, and 213D as target movement trajectories. In FIG. 7C, movement trajectories 213E and 213F are movement trajectories of a pedestrian other than the worker.

[0086] For example, the identification unit 112 displays, in the sensor coordinate space, the target movement trajectories 213A, 213B, 213C, and 213D and the movement trajectories 213E and 213F other than the target movement trajectories 213A, 213B, 213C, and 213D in a manner that allows them to be distinguished from one another on the display device 202. The manner in which the movement trajectories are displayed is the same as in the first example, and therefore description thereof will be omitted.

[0087] 8C is a diagram showing a third example of the creation of an auxiliary line. Fig. 8C shows the creation of an auxiliary line based on the object movement trajectories 213A, 213B, 213C, and 213D shown in Fig. 7C. As described above, the object movement trajectories 213A, 213B, 213C, and 213D are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate value) at which the auxiliary line is to be created.

[0088] 8C , the auxiliary lines are straight lines that approximate the object movement trajectories 213A, 213B, 213C, and 213D. That is, the user specifies a position near the object movement trajectory 213A, and the creation unit 113 creates an auxiliary line 223A that follows the object movement trajectory 213A. The user specifies a position near the object movement trajectory 213B, and the creation unit 113 creates an auxiliary line 223B that follows the object movement trajectory 213B. The user specifies a position near the object movement trajectory 213C, and the creation unit 113 creates an auxiliary line 223C that follows the object movement trajectory 213C. The user specifies a position near the object movement trajectory 213D, and the creation unit 113 creates an auxiliary line 223D that follows the object movement trajectory 213D.

[0089] The first determination unit 114 determines definition points 233A and 233E, which are both end points of the auxiliary line 223A. The first determination unit 114 determines definition points 233B and 233F, which are both end points of the auxiliary line 223B. The first determination unit 114 determines definition points 233C and 233G, which are both end points of the auxiliary line 223C. The first determination unit 114 determines definition points 233D and 233H, which are both end points of the auxiliary line 223D.

[0090] The second determination unit 115 determines the detection area 300 based on the definition points 233A, 233B, 233C, 233D, 233G, and 233H.

[0091] 9B is a diagram showing a second example of determining a detection area based on definition points 233A, 233B, 233C, 233D, 233E, and 233F shown in FIG. 8C.

[0092] For example, the second determination unit 115 determines the four definition points 233A, 233B, 233C, 233D, 233E, 233F, 233G, and 233H, which are located in the center in the Y direction, as the definition points for defining the zebra area 300_1. For example, the second determination unit 115 connects the definition points 233A, 233B, 233C, and 233D with line segments to determine the polygon that is the zebra area 300_1. The determination of the polygon based on the definition points is the same as in the first example, and therefore will not be described again.

[0093] For example, the second determination unit 115 determines, among the definition points 233A, 233B, 233C, 233D, 233E, 233F, 233G, and 233H, the four definition points 233A, 233B, 233E, and 233F that are away from the origin O in the Y direction as definition points for defining the waiting area 300_3. For example, the second determination unit 115 connects the definition points 233A, 233B, 233E, and 233F with line segments to determine a polygon that is the waiting area 300_3.

[0094] For example, the second determination unit 115 determines, among the definition points 233A, 233B, 233C, 233D, 233E, 233F, 233G, and 233H, the four definition points 233C, 233D, 233G, and 233H that are closest to the origin O in the Y direction as the definition points for defining the waiting area 300_2. For example, the second determination unit 115 connects the definition points 233C, 233D, 233G, and 233H with line segments to determine a polygon that is the waiting area 300_2.

[0095] (Fourth Example) A fourth example of determining the detection area will now be described.

[0096] For example, the specific movement pattern includes a fourth movement pattern in which the vehicle continuously moves around the perimeter of each of waiting areas 30_2 and 30_3. Fig. 6D is a diagram illustrating the fourth movement pattern. The fourth movement pattern is a combination of a pattern 204A in which the vehicle moves along the perimeter of waiting area 30_3 (i.e., a rectangle adjacent to crosswalk 20 on sidewalk 63b) and a pattern 204B in which the vehicle moves along the perimeter of waiting area 30_3 (i.e., a rectangle adjacent to crosswalk 20 on sidewalk 63a).

[0097] For example, the worker moves according to pattern 204A. That is, the worker imagines a rectangle adjacent to the crosswalk 20 on the sidewalk 63b and moves around the imagined rectangle. Furthermore, the worker moves according to pattern 204B. That is, the worker imagines a rectangle adjacent to the crosswalk 20 on the sidewalk 63a and moves around the imagined rectangle. However, the worker does not have to move in the order of patterns 204A and 204B. For example, the worker may move in the order of patterns 204B and 204A.

[0098] 7D is a diagram showing an example of the detection result of the movement trajectory of an object that moved according to the fourth movement pattern. For example, the identification unit 112 identifies two polygonal (specifically, rectangular) movement trajectories 214A and 214B as trajectories of a worker that moved according to patterns 204A and 204B. That is, the identification unit 112 identifies the movement trajectories 214A and 214B as target movement trajectories. In FIG. 7D , movement trajectories 214C and 214D are movement trajectories of a pedestrian other than the worker.

[0099] For example, the identification unit 112 displays the target movement trajectories 214A and 214B and the movement trajectories 214C and 214D other than the target movement trajectories 214A and 214B in a manner that allows them to be distinguished from one another on the display device 202. The manner in which the movement trajectories are displayed is the same as in the first example, and therefore description thereof will be omitted.

[0100] Fig. 8D is a diagram showing a fourth example of creating an auxiliary line. Fig. 8D shows the creation of an auxiliary line based on the object movement trajectories 214A and 214B shown in Fig. 7D. As described above, the object movement trajectories 214A and 214B are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate value) where the auxiliary line is to be created.

[0101] In the example of FIG. 8D , the auxiliary line is a straight line approximating a portion of the line segments of the object movement trajectories 214A and 214B. That is, the user specifies a position near the left side of the object movement trajectory 214A, for example, and specifies a position near the left side of the object movement base line 214B, for example. The creation unit 113 creates an auxiliary line 224A that runs along the left side of the object movement trajectory 214A and the left side of the object movement trajectory 214B. The user specifies a position near the right side of the object movement trajectory 214A, for example, and specifies a position near the right side of the object movement base line 214B, for example. The creation unit 113 creates an auxiliary line 224B that runs along the right side of the object movement trajectory 214A and the right side of the object movement base line 214B.

[0102] The user specifies a position near, for example, the top edge of the object movement trajectory 214A (the edge away from the origin O in the Y direction). The creation unit 113 creates an auxiliary line 224C along the top edge of the object movement trajectory 214A. The user specifies a position near, for example, the bottom edge of the object movement trajectory 214A (the edge closest to the origin O in the Y direction). The creation unit 113 creates an auxiliary line 224D along the bottom edge of the object movement trajectory 214A. The user specifies a position near, for example, the top edge of the object movement trajectory 214B. The creation unit 113 creates an auxiliary line 224E along the top edge of the object movement trajectory 214B. The user specifies a position near, for example, the bottom edge of the object movement trajectory 214B. The creation unit 113 creates an auxiliary line 224F along the bottom edge of the object movement trajectory 214B.

[0103] The first determination unit 114 determines a definition point 234A, which is the intersection of the auxiliary lines 224A and 224D. The first determination unit 114 determines a definition point 234B, which is the intersection of the auxiliary lines 224B and 224D. The first determination unit 114 determines a definition point 234C, which is the intersection of the auxiliary lines 224A and 224E. The first determination unit 114 determines a definition point 234D, which is the intersection of the auxiliary lines 224B and 224E. The first determination unit 114 determines a definition point 234E, which is the intersection of the auxiliary lines 224A and 224C. The first determination unit 114 determines a definition point 234F, which is the intersection of the auxiliary lines 224B and 224C. The first determination unit 114 determines a definition point 234G, which is the intersection of the auxiliary lines 224A and 224F. The first determination unit 114 determines a definition point 234H, which is the intersection of the auxiliary line 224B and the auxiliary line 224F.

[0104] The second determination unit 115 determines the detection area 300 based on the definition points 234A, 234B, 234C, 234D, 234E, 234F, 234G, and 234H. The determination of the detection area 300 by the second determination unit 115 is the same as in the third example, and therefore description thereof will be omitted.

[0105] Returning to FIG. 5 , the setting unit 116 transmits information about the detection area 300 to the infrastructure radio wave sensor 10 , and sets the detection area 300 in the infrastructure radio wave sensor 10 .

[0106] The setting mode is completed when the detection area 300 is set in the infrastructure radio wave sensor 10. The infrastructure radio wave sensor 10 is started in the operation mode and performs object detection using the set detection area 300.

[0107] 1-4. Operation of the Setting Support Device FIG. 10 is a flowchart showing an example of the setting support operation of the infrastructure radio wave sensor performed by the setting support device according to the first embodiment.

[0108] The processor 101 of the setting assistance device 100 starts up the infrastructure radio wave sensor 10 in setting mode (step S101).

[0109] When the infrastructure radio wave sensor 10 is activated in the setting mode, the infrastructure radio wave sensor 10 detects an object (the object's position and speed). The infrastructure radio wave sensor 10 transmits the detection data or movement trajectory data. The processor 101 receives the detection data or movement trajectory data transmitted from the infrastructure radio wave sensor 10 and acquires the movement trajectory (step S102).

[0110] The processor 101 identifies a target trajectory that moves according to a specific movement pattern from among the acquired trajectories (step S103).

[0111] The processor 101 causes the display device 202 to display the identified target trajectory in a manner that allows the target trajectory to be distinguished from trajectories other than the target trajectory (step S104).

[0112] Based on the displayed target movement trajectory, the user specifies the position where the auxiliary line is to be created using the input device 201. The processor 101 accepts the user's specification of the position where the auxiliary line is to be created, and creates the auxiliary line at the specified position (step S105).

[0113] The processor 101 determines definition points based on the created auxiliary lines (step S106). For example, the processor 101 determines the intersections of the auxiliary lines that intersect with each other as definition points, or determines the end points of the auxiliary lines that are line segments as definition points.

[0114] The processor 101 determines the detection area 300, which is a polygon, based on the determined defining points (step S107).

[0115] The processor 101 transmits data of the determined detection area 300 to the infrastructure radio wave sensor 10, and sets the detection area 300 in the infrastructure radio wave sensor 10 (step S108). This completes the setting support operation for the infrastructure radio wave sensor.

[0116] [1-5. Modifications] In the first embodiment described above, the auxiliary line is created in accordance with the user's position designation, but this is not limiting. For example, an auxiliary line that approximates the target movement trajectory may be automatically created by software.

[0117] In the first embodiment described above, the first, second, third, and fourth movement patterns are described, but the specific movement patterns are not limited to these. For example, the specific movement patterns may include a movement pattern in which the user continuously circles the outer edge of the crosswalk 20. In this case, the identification unit 112 identifies a movement trajectory having a shape corresponding to the shape of the outer edge of the crosswalk 20 as the target movement trajectory.

[0118] 2. Second Embodiment The hardware configuration of the setting assistance device according to the second embodiment is the same as the hardware configuration of the setting assistance device according to the first embodiment.

[0119] 11 is a functional block diagram showing an example of the functions of the setting support device according to the second embodiment. When the processor 101 executes the setting support program 107, the setting support device 100 functions as an acquisition unit 111, an identification unit 112, an arrangement unit 113A, a first determination unit 114, a second determination unit 115, and a setting unit 116. Note that the acquisition unit 111, the identification unit 112, the second determination unit 115, and the setting unit 116 are the same as those in the first embodiment, and therefore description thereof will be omitted.

[0120] The placement unit 113A places an auxiliary figure indicating the outer edge shape of the crosswalk 20 so as to overlap the target movement trajectory. In a specific example, the placement unit 113A places the auxiliary figure at a position in the coordinate space designated by the user based on the target movement trajectory displayed on the display device 202.

[0121] (First Example) FIG. 12A is a diagram showing a first example of the arrangement of auxiliary figures. FIG. 12A shows the arrangement of auxiliary figures based on the object movement trajectories 211A, 211B, 211C, and 211D shown in FIG. 7A. As described above, the object movement trajectories 211A, 211B, 211C, and 211D are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate value) at which the auxiliary figure is to be arranged. For example, on the display device 202, an auxiliary figure 241 is displayed superimposed on the object movement trajectories 211A, 211B, 211C, and 211D. The auxiliary figure 241 is graphic information that can be moved by a user's instruction. The user can specify the arrangement position of the auxiliary figure 241 by moving the auxiliary figure 241 to a position that coincides with (overlaps with) the object movement trajectories 211A, 211B, 211C, and 211D.

[0122] The auxiliary graphic 241 is stored, for example, in the nonvolatile memory 102 of the setting support device 100. For example, the auxiliary graphic 241 is graphic information created based on dimensional information of the crosswalk 20. In a specific example, the user inputs the dimensional information of the crosswalk 20 to the setting support device 100. The setting support device 100 creates an auxiliary graphic based on the input dimensional information and stores the created auxiliary graphic in the nonvolatile memory 102.

[0123] The auxiliary figure 241 is a figure having characteristic points. For example, if the outer edge shape of the crosswalk 20 is a polygon, the characteristic points are vertices. For example, if the outer edge shape of the crosswalk 20 is a shape that includes a curve, the characteristic points are points, vertices, inflection points, etc. on the curve spaced at regular intervals.

[0124] Returning to FIG. 11, first determination unit 114 determines the feature points of auxiliary graphic 241 placed by placement unit 113A as definition points.

[0125] Returning to FIG. 12A, the first determination unit 114 determines definition points 251A, 251B, 251C, and 251D, which are the vertices of the quadrangular auxiliary figure 241.

[0126] (Second Example) FIG. 12B is a diagram showing a second example of the arrangement of auxiliary figures. FIG. 12B shows the arrangement of auxiliary figures based on the object movement trajectories 212A and 212B shown in FIG. 7B. As described above, the object movement trajectories 212A and 212B are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate value) at which the auxiliary figure is to be arranged. For example, the user can specify the arrangement position of the auxiliary figure 242 by moving the auxiliary figure 242 to a position that coincides with (overlaps with) the object movement trajectories 212A and 212B.

[0127] The first determination unit 114 determines definition points 252A, 252B, 252C, and 252D, which are the vertices of the quadrangular auxiliary graphic 242.

[0128] (Third Example) FIG. 12C is a diagram showing a third example of the arrangement of auxiliary figures. FIG. 12C shows the arrangement of auxiliary figures based on the object movement trajectories 213A, 213B, 213C, and 213D shown in FIG. 7C. As described above, the object movement trajectories 213A, 213B, 213C, and 213D are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate value) at which the auxiliary figure is to be arranged. For example, the user can specify the arrangement position of the auxiliary figure 243 by moving the auxiliary figure 243 to a position that coincides with (overlaps with) the object movement trajectories 213A, 213B, 213C, and 213D.

[0129] Specifically, auxiliary figure 243 is a figure including multiple (three) rectangles. That is, auxiliary figure 243 includes one central rectangle corresponding to zebra area 30_1 and two rectangles at both ends corresponding to waiting areas 30_2 and 30_3. The user specifies positions where the short sides of the two rectangles corresponding to waiting areas 30_2 and 30_3 overlap with target movement trajectories 213A, 213B, 213C, and 213D, and placement unit 113A places auxiliary figure 243 at the specified position.

[0130] The first determination unit 114 determines definition points 253A, 253B, 253C, 253D, 253E, 253F, 253G, and 253H, which are the vertices of three quadrangles included in the auxiliary figure. Specifically, the first determination unit 114 determines the vertices of the quadrangle corresponding to zebra area 30_1 as definition points 253A, 253B, 253C, and 253D. Definition points 253A and 253B are vertices shared by the quadrangle corresponding to zebra area 30_1 and the quadrangle corresponding to waiting area 30_3. Definition points 253C and 253D are vertices shared by the quadrangle corresponding to zebra area 30_1 and the quadrangle corresponding to waiting area 30_2. The first determination unit 114 determines, among the vertices of the quadrangle corresponding to the waiting area 30_3, the vertices that are not shared with the quadrangle corresponding to the zebra area 30_1 as definition points 253E and 253F. The first determination unit 114 determines, among the vertices of the quadrangle corresponding to the waiting area 30_2, the vertices that are not shared with the quadrangle corresponding to the zebra area 30_1 as definition points 253G and 253H.

[0131] (Fourth Example) Fig. 12D is a diagram showing a fourth example of the arrangement of an auxiliary figure. Fig. 12D shows the arrangement of an auxiliary figure based on the object movement trajectories 214A and 214B shown in Fig. 7D. As described above, the object movement trajectories 214A and 214B are displayed on the display device 202. The user uses the input device 201 to specify the position (coordinate value) at which the auxiliary figure is to be arranged. For example, the user can specify the arrangement position of the auxiliary figure 244 by moving the auxiliary figure 244 to a position that coincides with (overlaps with) the object movement trajectories 214A and 214B.

[0132] Specifically, auxiliary figure 244 includes one central rectangle corresponding to zebra area 30_1 and two rectangles on both ends corresponding to waiting areas 30_2 and 30_3. The user specifies positions where the two rectangles corresponding to waiting areas 30_2 and 30_3 overlap target movement trajectories 214A and 214B, and placement unit 113A places auxiliary figure 244 at the specified position.

[0133] The first determination unit 114 determines definition points 254A, 254B, 254C, 254D, 254E, 254F, 254G, and 254H, which are the vertices of three quadrangles included in the auxiliary figure. The determination of the definition points is the same as in the third example, and therefore a description thereof will be omitted.

[0134] 2-2. Operation of the Setting Support Device FIG. 13 is a flowchart showing an example of the setting support operation of the infrastructure radio wave sensor performed by the setting support device according to the second embodiment.

[0135] Steps S101 to S104 are the same as steps S101 to S104 described in the first embodiment.

[0136] Based on the displayed object movement trajectory, the user specifies the position where the auxiliary figure is to be placed using the input device 201. The processor 101 accepts the user's specification of the position where the auxiliary figure is to be placed, and places the auxiliary figure at the specified position (step S205).

[0137] The processor 101 determines a definition point based on the placed auxiliary figure (step S206). For example, the processor 101 determines a feature point of the placed auxiliary figure as the definition point.

[0138] Steps S107 to S108 are the same as steps S107 to S108 described in the first embodiment.

[0139] In the second embodiment, the auxiliary figure is positioned according to the user's position specification, but this is not limiting. For example, the auxiliary figure may be automatically positioned by software at a position that overlaps with the target movement trajectory.

[0140] [3. Supplementary Note] The embodiments disclosed herein are illustrative in all respects and are not restrictive. The scope of the present invention is defined by the claims, not the above-described embodiments, and includes meanings equivalent to the claims and all modifications within the scope thereof.

[0141] DESCRIPTION OF SYMBOLS 10 Infrastructure 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, 300 Detection area 30_1, 300_1 Zebra area 30_2, 30_3, 300_2, 300_3 Waiting area 31O Point 31Y Projection center axis 31X Straight line 40 Radio wave irradiation area 50 Structure 51 Pole 52 Arm 60 Roadway 61 Intersection 62a Entering lane 62b Exiting lane 63a, 63b Sidewalk 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 111 Acquisition unit 112 Identification unit 113 Creation unit 113A Placement unit 114 First determination unit 115 Second determination unit 116 Setting unit 201 Input device 202 Display device 201A, 201B, 201C, 201D, 202A, 202B, 203A, 203B, 203C, 203D, 204A, 204B Patterns 211A, 211B, 211C, 211D, 212A, 212B, 213A, 213B, 213C, 213D, 214A, 214B Object movement trajectories 211E, 211F, 212C, 212D, 213E, 213F, 214C, 214D Movement trajectories 221A, 221B, 221C, 221D, 222A, 222B, 223A, 223B, 223C, 223D, 224A, 224B, 224C, 224D, 224E, 224F Auxiliary line 231A, 231B, 231C, 231D, 232A, 232B, 232C, 232D, 233A, 233B, 233C, 233D , 233E, 233F, 233G, 233H, 234A, 234B, 234C, 234D, 234E, 234F, 234G, 234H , 251A, 251B, 251C, 251D, 252A, 252B, 252C, 252D, 253A, 253B, 253C, 253D , 253E, 253F, 253G, 253H, 254A, 254B, 254C, 254D, 254E, 254F, 254G, 254H definition point 241, 242, 243, 244 Auxiliary figures

Claims

1. A radio wave sensor setting assistance device comprising: an acquisition unit that acquires the movement trajectories of one or more objects moving on a road including a crosswalk, detected by a radio wave sensor; an identification unit that identifies a target movement trajectory of a target object that moves continuously in a specific movement pattern from the movement trajectories of the one or more objects acquired by the acquisition unit; a first determination unit that determines a definition point in a coordinate space set in the radio wave sensor, based on the target movement trajectory in the coordinate space, which defines a detection area corresponding to the crosswalk; and a second determination unit that determines the detection area in the coordinate space based on the definition point determined by the first determination unit.

2. The radio wave sensor setting support device according to claim 1, wherein the detection area is a polygon, and the defining points are vertices of the polygon.

3. The radio wave sensor setting assistance device according to claim 1 or claim 2, wherein the identification unit displays the target movement trajectory and movement trajectories other than the target movement trajectory on a display device in a manner that allows them to be distinguished from each other in the coordinate space.

4. A radio wave sensor setting assistance device according to any one of claims 1 to 3, wherein the specific movement pattern includes at least one of a movement pattern of continuously moving around the perimeter of the crosswalk and a movement pattern of continuously moving around the perimeter of a pedestrian waiting area adjacent to the crosswalk.

5. The radio wave sensor setting assistance device according to any one of claims 1 to 3, wherein the specific movement pattern is a movement pattern in which the user moves along each of two opposing sides and two diagonals of the crosswalk.

6. A radio wave sensor setting assistance device according to any one of claims 1 to 3, wherein the specific movement pattern includes at least one of a movement pattern that travels back and forth along each of two opposing sides of the crosswalk, and a movement pattern that travels back and forth along each of two opposing sides of the waiting area.

7. The radio wave sensor setting support device according to any one of claims 1 to 6, further comprising a creation unit that creates an auxiliary line for determining the definition point based on the target movement trajectory identified by the identification unit, and the first determination unit determines the definition point in the coordinate space based on the auxiliary line created by the creation unit.

8. The radio wave sensor setting assistance device according to claim 7, wherein the creation unit creates the auxiliary line at a position in the coordinate space designated by the user based on the target movement trajectory displayed on a display device.

9. The radio wave sensor setting assistance device according to claim 7 or 8, wherein the first determination unit determines the intersection of two of the auxiliary lines as the definition point.

10. The radio wave sensor setting support device according to claim 7 or 8, wherein the first determination unit determines an end point of the auxiliary line, which is a line segment, as the definition point.

11. The radio wave sensor setting support device according to any one of claims 1 to 6, further comprising a placement unit that places an auxiliary figure indicating the outer edge shape of the crosswalk so as to overlap the target movement trajectory, and the first determination unit determines a feature point of the auxiliary figure placed by the placement unit as the definition point.

12. The radio wave sensor setting assistance device according to claim 11, wherein the placement unit places the auxiliary figure at a position in the coordinate space designated by the user based on the target movement trajectory displayed on a display device.

13. A radio wave sensor setting support method comprising the steps of: acquiring the movement trajectories of one or more objects moving on a road including a crosswalk, detected by a radio wave sensor; identifying a target movement trajectory of a target object that moves continuously in a specific movement pattern from the acquired movement trajectories of the one or more objects; determining a definition point in a coordinate space set in the radio wave sensor that defines a detection area corresponding to the crosswalk, based on the target movement trajectory in the coordinate space; and determining the detection area in the coordinate space based on the determined definition point.

14. A computer program for assisting in the setting of a radio wave sensor that detects objects on a crosswalk, the computer program causing a computer to execute the following steps: acquiring the movement trajectories of one or more objects detected by the radio wave sensor and moving on a road including the crosswalk; identifying a target movement trajectory of a target object that moves continuously in a specific movement pattern from the acquired movement trajectories of the one or more objects; determining a definition point in a coordinate space set in the radio wave sensor based on the target movement trajectory in the coordinate space, which defines a detection area corresponding to the crosswalk; and determining the detection area in the coordinate space based on the determined definition point.

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