Around-view radar-based traffic information collection system and traffic information collection device

Abstract

An around-view radar-based traffic information collection system according to embodiments of the present disclosure may comprise: a first radar device for outputting first object detection information for a first object; a second radar device for outputting second object detection information for a second object; and a traffic information collection device for acquiring traffic information by receiving the first object detection information and the second object detection information from the first radar device and the second radar device.

Description

Around-view radar-based traffic information collection system and traffic information collection device

[0001] The embodiments of the present disclosure relate to an around-view radar-based traffic information collection system and a traffic information collection device.

[0002] Currently, to monitor traffic conditions in real time, CCTVs are installed at various points along the roads, and traffic information such as traffic volume and vehicle flow is collected by observing the CCTV footage.

[0003] This type of CCTV-based traffic information collection technology has the disadvantage that it is not only time-consuming to collect traffic information but also lacks accuracy, as personnel at traffic control centers must visually assess traffic volume and the speed of vehicle flow while actually viewing CCTV footage.

[0004] To overcome these drawbacks, radar-based traffic information collection technologies are being developed. However, when the area requiring traffic information collection is vast, radars must be installed at multiple locations within the area, taking into account the detection range of each radar. In this case, due to the size limitations of the detection areas of each radar, undetectable blind spots may occur at the boundaries of their respective detection zones. Furthermore, a phenomenon may occur where the results detected by each radar are not continuous.

[0005] Embodiments of the present disclosure can provide an around-view radar-based traffic information collection system and a traffic information collection device capable of eliminating or minimizing shaded areas.

[0006] Embodiments of the present disclosure may provide an around-view radar-based traffic information collection system and a traffic information collection device having a handover function between detection areas of a plurality of radar devices.

[0007] The embodiments of the present disclosure can provide an around-view radar-based traffic information collection system and a traffic information collection device capable of accurately and continuously performing object detection by comprehensively considering the characteristics of each of a plurality of radar devices, the installation environment, and the road environment.

[0008] The problems of the embodiments of the present disclosure are not limited to those mentioned in this specification, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0009] An around-view radar-based traffic information collection system according to embodiments of the present disclosure may include a first radar device that outputs first object detection information for a first object, a second radar device that outputs second object detection information for a second object, and a traffic information collection device that receives the first object detection information and the second object detection information from the first radar device and the second radar device and performs traffic information collection processing.

[0010] A traffic information collection device may include an object information acquisition unit that acquires first object information for a first object based on first object detection information and acquires second object information for a second object based on second object detection information, an object information combination processing unit that combines and connects the first object information and the second object information to acquire combination data, and a traffic information acquisition unit that acquires traffic information based on the combination data.

[0011] An around-view radar-based traffic information collection device according to embodiments of the present disclosure may include an object information acquisition unit that acquires first object information for a first object based on first object detection information of a first radar device and acquires second object information for a second object based on second object detection information of a second radar device, an object information combination processing unit that combines and connects the first object information and the second object information to acquire combination data, and a traffic information acquisition unit that acquires traffic information based on the combination data.

[0012] According to embodiments of the present disclosure, an around-view radar-based traffic information collection system and a traffic information collection device capable of eliminating or minimizing shaded areas can be provided.

[0013] According to embodiments of the present disclosure, an around-view radar-based traffic information collection system and a traffic information collection device having a handover function between detection areas of a plurality of radar devices can be provided.

[0014] According to embodiments of the present disclosure, by comprehensively considering the characteristics of each of a plurality of radar devices, the installation environment, and the road environment, an around-view radar-based traffic information collection system and a traffic information collection device capable of accurately and continuously performing object detection can be provided.

[0015] The effects of the embodiments of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description in the claims.

[0016] The content of this disclosure will be more fully understood from the detailed description and accompanying drawings provided below, which are provided solely for illustrative purposes and are not intended to limit the content of this disclosure.

[0017] FIGS. 1 and 2 show the installation environment of an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0018] FIG. 3 is a block diagram of an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0019] FIG. 4 illustrates an around-view radar-based traffic information collection function according to embodiments of the present disclosure.

[0020] FIG. 5 is a diagram illustrating the object detection function of an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0021] FIG. 6 illustrates a handover process between a first radar device and a second radar device in an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0022] FIG. 7 illustrates a process for determining the same object included in a handover process according to embodiments of the present disclosure.

[0023] FIG. 8 is a diagram illustrating the calculation of overlap coefficients in the same object determination process included in the handover process according to embodiments of the present disclosure.

[0024] FIG. 9 is a diagram for explaining the object trajectory similarity calculation process in the same object determination process included in the handover process according to the embodiments of the present disclosure.

[0025] FIG. 10 is a diagram for explaining the processing of calculating object characteristic similarity in the same object determination process included in the handover process according to the embodiments of the present disclosure.

[0026] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In assigning reference numerals to the components of each drawing, the same components may have the same reference numeral as much as possible, even if they are shown in different drawings. Furthermore, in describing the present disclosure, if it is determined that a detailed description of related known components or functions may obscure the essence of the present disclosure, such detailed description may be omitted. Where terms such as "comprising," "having," or "consisting of" are used in this specification, other parts may be added unless "only" is used. Where a component is expressed in the singular, it may include a plural unless there is a special explicit description otherwise.

[0027] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used to describe the components of the present disclosure. These terms are used merely to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by such terms.

[0028] In describing the positional relationship of components, where it is stated that two or more components are "connected," "combined," or "joined," it should be understood that while the two or more components may be directly "connected," "combined," or "joined," they may also be "connected," "combined," or "joined" with other components "intervened." Here, the other components may be included in one or more of the two or more components that are "connected," "combined," or "joined" with one another.

[0029] In describing the temporal flow relationship regarding components, methods of operation, or methods of production, for example, when the temporal or sequential relationship is described using "after," "following," "next," or "before," it may include cases where the relationship is not continuous unless "immediately" or "directly" is used.

[0030] Meanwhile, where numerical values ​​or corresponding information regarding a component (e.g., levels, etc.) are mentioned, even without separate explicit notation, the numerical values ​​or corresponding information may be interpreted as including a range of error that may occur due to various factors (e.g., process factors, internal or external shocks, noise, etc.).

[0031] Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the attached drawings.

[0032] FIG. 1 shows the installation environment of an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0033] An around-view radar-based traffic information collection system according to embodiments of the present disclosure may include a first radar device (110), a second radar device (120), and a traffic information collection device (100).

[0034] The first radar device (110) and the second radar device (120) may be installed on a road structure (10). The first radar device (110) and the second radar device (120) may be tilted at different directional angles.

[0035] Additionally, the traffic information collection device (100) can control the tilting angle of at least one of the first radar device (110) and the second radar device (120) based on object information and / or traffic information acquisition results. Through this, the shadow section can be adaptively removed.

[0036] The first detection area detectable through the first radar device (110) and the second detection area detectable through the second radar device (120) may be different from each other.

[0037] The first radar device (110) is capable of long-range detection, and the second radar device (120) is capable of short-range detection.

[0038] The first detection area of ​​the first radar device (110) can be called the first long-range detection area (LONG_RANGE1), and the second detection area of ​​the second radar device (120) can be called the first short-range detection area (SHORT_RANGE1).

[0039] A portion of the first long-range detection area (LONG_RANGE1) and a portion of the first short-range detection area (SHORT_RANGE1) may overlap each other.

[0040] The second radar device (120) can detect an area that cannot be detected by the first radar device (110), namely, the first short-range detection area (SHORT_RANGE1).

[0041] The first radar device (110) may be configured to detect an object (TR1, hereinafter referred to as the first object) in a predetermined first long-range detection area (LONG_RANGE1) and output first object detection information for the first object (TR1). For example, the first radar device (110) may be a long-range three-dimensional radar device.

[0042] The second radar device (120) may be configured to detect an object (TR2, hereinafter referred to as the second object) in a predetermined first short-range detection area (SHORT_RANGE1) and output second object detection information for the second object (TR2). For example, the second radar device (120) may be a short-range 4D radar device.

[0043] In embodiments of the present disclosure, “object” may mean “vehicle” and may also mean “track”.

[0044] The traffic information collection device (100) can communicate with the first radar device (110) and the second radar device (120) via a wired or wireless method.

[0045] For example, the traffic information collection device (100) may be installed on a road structure (10). For another example, the traffic information collection device (100) may be installed around the road structure (10). For yet another example, the traffic information collection device (100) may be located at a traffic control center.

[0046] The first short-range detection area (SHORT_RANGE1) and the first long-range detection area (LONG_RANGE1) are different areas, but they may partially overlap. The overlapping area (boundary area) between the first short-range detection area (SHORT_RANGE1) and the first long-range detection area (LONG_RANGE1) may be a handover interval (HO).

[0047] The traffic information collection device (100) determines whether the first object (TR1) detected by the first radar device (110) and the second object (TR2) detected by the second radar device (120) are the same object in the handover section (HO). If it is determined that the first object (TR1) and the second object (TR2) are the same object, the first object information and the second object information are linked, thereby enabling continuous object detection in the first short-range detection area (SHORT_RANGE1) and object detection in the first long-range detection area (LONG_RANGE1).

[0048] By using an around-view radar-based traffic information collection system according to the embodiments of the present disclosure, object detection over the entire range can be achieved without blind spots.

[0049] In addition, by using an around-view radar-based traffic information collection system according to the embodiments of the present disclosure, even if a plurality of radar devices (110, 120) perform object detection in different detection areas, continuous object detection can be achieved through handover processing.

[0050] FIG. 2 shows a different installation environment of an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0051] An around-view radar-based traffic information collection system according to embodiments of the present disclosure may include a first radar device (110), a second radar device (120), a third radar device (130), a fourth radar device (140), and a traffic information collection device (100).

[0052] The first radar device (110), the second radar device (120), the third radar device (130), and the fourth radar device (140) can be installed on at least one road structure (10).

[0053] At least one of the first radar device (110), the second radar device (120), the third radar device (130), and the fourth radar device (140) may be tilted at a different directional angle from the others. For example, the directional angle of each of the second radar device (120) and the third radar device (130) and the directional angle (tilting angle) of each of the first radar device (110) and the fourth radar device (140) may be different from each other.

[0054] The first detection area detectable through the first radar device (110), the second detection area detectable through the second radar device (120), the third detection area detectable through the third radar device (130), and the fourth detection area detectable through the fourth radar device (140) may be different from each other.

[0055] The first radar device (110) and the fourth radar device (140) are capable of long-range detection, and the second radar device (120) and the third radar device (130) are capable of short-range detection.

[0056] The first detection area of ​​the first radar device (110) may be called the first long-range detection area (LONG_RANGE1), the second detection area of ​​the second radar device (120) may be called the first short-range detection area (SHORT_RANGE1), the third detection area of ​​the third radar device (130) may be called the second short-range detection area (SHORT_RANGE2), and the fourth detection area of ​​the fourth radar device (140) may be called the second long-range detection area (LONG_RANGE2).

[0057] A portion of the first long-range detection area (LONG_RANGE1) and a portion of the first short-range detection area (SHORT_RANGE1) may overlap with each other. A portion of the first short-range detection area (SHORT_RANGE1) and a portion of the second short-range detection area (SHORT_RANGE2) may overlap with each other. A portion of the second short-range detection area (SHORT_RANGE2) and a portion of the second long-range detection area (LONG_RANGE2) may overlap with each other.

[0058] The second radar device (120) can detect an area that cannot be detected by the first radar device (110), i.e., the first short-range detection area (SHORT_RANGE1). The third radar device (130) can detect an area that cannot be detected by the fourth radar device (140), i.e., the second short-range detection area (SHORT_RANGE2).

[0059] The first radar device (110) may be configured to detect an object (TR1, hereinafter referred to as the first object) in a predetermined first long-range detection area (LONG_RANGE1) and output first object detection information for the first object (TR1). For example, the first radar device (110) may be a long-range three-dimensional radar device.

[0060] The second radar device (120) may be configured to detect an object (TR2, hereinafter referred to as the second object) detected in a predetermined first short-range detection area (SHORT_RANGE1) and to output second object detection information for the second object (TR2). For example, the second radar device (120) may be a short-range 4-dimensional radar device.

[0061] The third radar device (130) may be configured to detect an object (TR3, hereinafter referred to as the third object) detected in a predetermined second short-range detection area (SHORT_RANGE2) and to output third object detection information for the third object (TR3). For example, the third radar device (130) may be a short-range 4-dimensional radar device.

[0062] The fourth radar device (140) may be configured to detect an object (TR4, hereinafter referred to as the fourth object) in a predetermined second long-range detection area (LONG_RANGE2) and output fourth object detection information for the fourth object (TR4). For example, the fourth radar device (140) may be a long-range three-dimensional radar device.

[0063] The traffic information collection device (100) can communicate with the first to fourth radar devices (110, 120, 130, 140) in a wired or wireless manner.

[0064] For example, the traffic information collection device (100) may be installed on a road structure (10). For another example, the traffic information collection device (100) may be installed around the road structure (10). For yet another example, the traffic information collection device (100) may be located at a traffic control center.

[0065] The second short-range detection area (SHORT_RANGE2) may be closer to the first short-range detection area (SHORT_RANGE1) among the first long-range detection area (LONG_RANGE1) and the first short-range detection area (SHORT_RANGE1).

[0066] The second long-range detection area (LONG_RANGE2) may be closer to the second short-range detection area (SHORT_RANGE2) among the first short-range detection area (SHORT_RANGE1) and the second short-range detection area (SHORT_RANGE2).

[0067] The order may be a first long-range detection area (LONG_RANGE1), a first short-range detection area (SHORT_RANGE1), a second short-range detection area (SHORT_RANGE2), and a second long-range detection area (LONG_RANGE2).

[0068] The first long-range detection area (LONG_RANGE1) and the first short-range detection area (SHORT_RANGE1) are different areas, but they may partially overlap. The overlapping area (boundary area) between the first long-range detection area (LONG_RANGE1) and the first short-range detection area (SHORT_RANGE1) may be the first handover interval (HO1).

[0069] The first short-range detection area (SHORT_RANGE1) and the second short-range detection area (SHORT_RANGE2) are different areas, but they may partially overlap. The overlapping area (boundary area) between the first short-range detection area (SHORT_RANGE1) and the second short-range detection area (SHORT_RANGE2) may be the second handover interval (HO2).

[0070] The second short-range detection area (SHORT_RANGE2) and the second long-range detection area (LONG_RANGE2) are different areas, but they may partially overlap. The overlapping area (boundary area) between the second short-range detection area (SHORT_RANGE2) and the second long-range detection area (LONG_RANGE2) may be the third handover interval (HO3).

[0071] In the first handover section (HO1), the traffic information collection device (100) determines whether the first object (TR1) detected through the first radar device (110) and the second object (TR2) detected through the second radar device (120) are the same object, and if it is determined that the first object (TR1) and the second object (TR2) are the same object, it links the first object information and the second object information so that object detection in the first long-range detection area (LONG_RANGE1) and object detection in the first short-range detection area (SHORT_RANGE1) can be performed continuously.

[0072] In the second handover section (HO2), the traffic information collection device (100) determines whether the second object (TR2) detected through the second radar device (120) and the third object (TR3) detected through the third radar device (130) are the same object. If it is determined that the second object (TR3) and the third object (TR3) are the same object, the second object information and the third object information are linked, thereby enabling continuous object detection in the first short-range detection area (SHORT_RANGE1) and object detection in the second short-range detection area (SHORT_RANGE2).

[0073] In the third handover section (HO3), the traffic information collection device (100) determines whether the third object (TR3) detected through the third radar device (130) and the fourth object (TR4) detected through the fourth radar device (140) are the same object. If it is determined that the third object (TR3) and the fourth object (TR4) are the same object, the third object information and the fourth object information are linked, thereby enabling continuous object detection in the second short-range detection area (SHORT_RANGE2) and object detection in the second long-range detection area (LONG_RANGE2).

[0074] By using an around-view radar-based traffic information collection system according to the embodiments of the present disclosure, object detection over the entire range can be achieved without blind spots.

[0075] In addition, by using an around-view radar-based traffic information collection system according to the embodiments of the present disclosure, even if a plurality of radar devices (110, 120, 130, 140) perform object detection in different detection areas, continuous object detection can be achieved through handover processing.

[0076] FIG. 3 is a block diagram of an around-view radar-based traffic information collection system according to embodiments of the present disclosure, and FIG. 4 shows an around-view radar-based traffic information collection function according to embodiments of the present disclosure.

[0077] Referring to FIG. 3, an around-view radar-based traffic information collection system according to embodiments of the present disclosure may include a first radar device (110) that outputs first object detection information for a first object (TR1), a second radar device (120) that outputs second object detection information for a second object (TR2), and a traffic information collection device (100) that receives the first object detection information and the second object detection information from the first radar device (110) and the second radar device (120) and performs traffic information collection processing.

[0078] The traffic information collection device (100) may include an object information acquisition unit (310) that acquires first object information for a first object (TR1) based on first object detection information and acquires second object information for a second object (TR2) based on second object detection information, an object information combination processing unit (320) that combines and connects the first object information and the second object information to acquire combination data, and a traffic information acquisition unit (330) that acquires traffic information based on the combination data.

[0079] The first radar device (110) can detect a first object (TR1) in a first long-range detection area (LONG_RANGE1) and output first object detection information for the detected first object (TR1) (S401). For example, the first object detection information of the first radar device (110) may further include object speed information in addition to object location information for the first object (TR1).

[0080] The second radar device (120) can detect a second object (TR2) in a first short-range detection area (SHORT_RANGE1) and output second object detection information for the detected second object (TR2) (S402). For example, the second object detection information of the second radar device (120) may further include object speed information and object height information in addition to object location information for the second object (TR2).

[0081] The object information acquisition unit (310) can further acquire first object information for the first object (TR1) based on first object detection information, and further acquire second object information for the second object (TR2) based on second object detection information.

[0082] The object information acquisition unit (310) may include a precision object information acquisition unit (311) and an additional object information acquisition unit (312).

[0083] The precision object information acquisition unit (311) can acquire first object information for the first object (TR1), including precision object location information (also called precision vehicle location information) and precision object speed information (also called precision vehicle speed information), based on the first object detection information of the first radar device (110) (S411).

[0084] The additional object information acquisition unit (312) can acquire second object information for the second object (TR2) including object type information (also called vehicle type information) for the second object (TR2) based on the second object detection information of the second radar device (120) (S412).

[0085] The additional object information acquisition unit (312) can acquire three-dimensional shape information for the second object (TR2) based on object location information and object height information for the second object (TR2).

[0086] The additional object information acquisition unit (312) can classify the object type (object type, vehicle type, vehicle model) for the second object (TR2) based on the three-dimensional shape information acquired for the second object (TR2).

[0087] The additional object information acquisition unit (312) can acquire second object information for a second object (TR2) including object type information (object type information, vehicle type information, vehicle type information) according to the classification result of the object type.

[0088] In the first handover section (HO1), the object information combination processing unit (320) can perform a same object determination process to determine whether the first object (TR1) detected by the first radar device (110) and the second object (TR2) detected by the second radar device (120) are the same object based on the first object data (also called the first track data) containing the first object information and the second object data (also called the second track data) containing the second object information, and if they are determined to be the same object, the handover information combination data that connects the first object (TR1) and the second object (TR2) can be obtained (S420).

[0089] An around-view radar-based traffic information collection system according to embodiments of the present disclosure may further include a third radar device (130) that outputs third object detection information for a third object (TR3) and a fourth radar device (140) that outputs fourth object detection information for a fourth object (TR4).

[0090] The third radar device (130) can detect a third object (TR3) in a second short-range detection area (SHORT_RANGE2) and output third object detection information for the detected third object (TR3) (S403). For example, the third object detection information of the third radar device (130) may further include object speed information and object height information in addition to object location information for the third object (TR3).

[0091] The fourth radar device (140) can detect a fourth object (TR4) in a second long-range detection area (LONG_RANGE2) and output fourth object detection information for the detected fourth object (TR4) (S404). For example, the fourth object detection information of the fourth radar device (140) may further include object speed information in addition to object location information for the fourth object (TR4).

[0092] The object information acquisition unit (310) can further acquire third object information for the third object (TR3) based on third object detection information, and further acquire fourth object information for the fourth object (TR4) based on fourth object detection information.

[0093] The additional object information acquisition unit (312) can acquire third object information for the third object (TR3) including object type information (also called object type information or vehicle type information) for the third object (TR3) based on the third object detection information of the third radar device (130) (S412).

[0094] The precision object information acquisition unit (311) can acquire precision object location information (also called precision object location information or precision vehicle location information) and precision object speed information (also called precision object speed information or precision vehicle speed information) for the fourth object (TR4) based on the fourth object detection information of the fourth radar device (140) (S414).

[0095] The object information combination processing unit (320) can obtain combination data by combining and connecting the first object information, the second object information, the third object information, and the fourth object information.

[0096] In the second handover section (HO2), the object information combination processing unit (320) performs an identical object determination process to determine whether the second object (TR2) and the third object (TR3) are the same object based on the second object data including the second object information and the third object data including the third object information, and if they are determined to be the same object, the handover information combination data that connects the second object (TR2) and the third object (TR3) can be obtained (S420).

[0097] In the third handover section (HO3), the object information combination processing unit (320) performs an identical object determination process to determine whether the third object (TR3) and the fourth object (TR4) are the same object based on the third object data including the third object information and the fourth object data including the fourth object information, and if they are determined to be the same object, the handover information combination data that connects the third object (TR3) and the fourth object (TR4) can be obtained (S420).

[0098] The additional object information acquisition unit (312) within the object information acquisition unit (310) can acquire second object information including object type information for the second object (TR2) based on the second object detection information.

[0099] More specifically, the additional object information acquisition unit (312) can acquire three-dimensional shape information for the second object (TR2) based on object location information and object height information for the second object (TR2), and can classify object types (object types, vehicle types) for the second object (TR2) based on the three-dimensional shape information for the second object (TR2) to acquire second object information for the second object (TR2) including object type information (object type information, vehicle type information) for the second object (TR2).

[0100] The additional object information acquisition unit (312) within the object information acquisition unit (310) can acquire third object information including object type information for the third object (TR3) based on the third object detection information.

[0101] More specifically, the additional object information acquisition unit (312) can acquire three-dimensional shape information for the third object (TR3) based on object location information and object height information for the third object (TR3), and can classify object types (object types, vehicle types) for the third object (TR3) based on the three-dimensional shape information for the third object (TR3) to acquire third object information for the third object (TR3) including object type information (object type information, vehicle type information) for the third object (TR3).

[0102] In the second handover section (HO2), the object information combination processing unit (320) can perform an identical object determination process based on the second object data including the second object information and the third object data including the third object information, comparing one of the three-dimensional shape information or object type information for the second object (TR2) with one of the three-dimensional shape information and object type information for the third object (TR3), and determining whether the second object (TR2) and the third object (TR3) are the same object according to the comparison result, and if, as a result of performing the identical object determination process, it is determined that they are the same object, the handover information combination data connecting the second object (TR2) and the third object (TR3) can be obtained (S420).

[0103] As described above, by combining object information corresponding to each of the multiple radar devices, accurate handover processing becomes possible, and the area where object detection is possible can be expanded.

[0104] The traffic information acquisition unit (330) can acquire various traffic information (e.g., traffic volume, etc.) using combined data. For example, the traffic information acquisition unit (330) can accurately measure the number of objects on the road (i.e., traffic volume) using combined data.

[0105] Hereinafter, the handover processing method will be explained in more detail with reference to FIGS. 5 to 10, using the first handover section (HO1) among the first to third handover sections (HO1, HO2, HO3) of FIG. 2 as an example.

[0106] FIG. 5 is a diagram illustrating the object detection function of an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0107] Referring to FIG. 5, the detection area of ​​the first radar device (110) may be a first long-range detection area (LONG_RANGE1), and the detection area of ​​the first radar device (120) may be a first short-range detection area (SHORT_RANGE1).

[0108] The first long-range detection area (LONG_RANGE1) and the first short-range detection area (SHORT_RANGE1) may partially overlap, and the overlapping area between the first long-range detection area (LONG_RANGE1) and the first short-range detection area (SHORT_RANGE1) may correspond to the first handover interval (HO1).

[0109] When an object (TR) of a vehicle travels through a first long-range detection area (LONG_RANGE1) and a first short-range detection area (SHORT_RANGE1), each of the first radar device (110) and the second radar device (120) can detect the object (TR).

[0110] When the object (TR) is driving in the first section (A1) excluding the first handover section (HO1) in the first long-range detection area (LONG_RANGE1), only the first radar device (110) among the first radar device (110) and the second radar device (120) can detect the object (TR) as the first object (TR1).

[0111] When the object (TR) is driving in the first handover section (HO1), both the first radar device (110) and the second radar device (120) can detect the object (TR) as the first object (TR1) and the second object (TR2), respectively. That is, when the object (TR) is driving in the first handover section (HO1), the first radar device (110) detects the object (TR) as the first object (TR1), and the second radar device (120) can also detect the object (TR) as the second object (TR2), respectively.

[0112] When the object (TR) is driving in the second section (A2), excluding the first handover section (HO1) in the first short-range detection area (SHORT_RANGE1), only the second radar device (120) among the first radar device (110) and the second radar device (120) can detect the object (TR) as the second object (TR2).

[0113] When the object (TR) is driving in the first handover section (HO1), the traffic information collection device (100) may recognize that two vehicles are driving on the road if it does not know whether the first object (TR1) detected by the first radar device (110) and the second object (TR2) detected by the second radar device (120) are the same object.

[0114] Therefore, in order to accurately collect traffic information, the traffic information collection device (100) must be able to accurately determine whether the first object (TR1) detected by the first radar device (110) and the second object (TR2) detected by the second radar device (120) are the same object.

[0115] The traffic information collection device (100) determines whether the first object (TR1) detected by the first radar device (110) and the second object (TR2) detected by the second radar device (120) are the same object, and connects and combines the first object information for the first object (TR1) and the second object information for the second object (TR2) to generate combined data, and can recognize object information for one object (TR) from the combined data thus generated. This process can be called handover processing.

[0116] For example, when the object ID (ID) of the first object information for the first object (TR1) detected by the first radar device (110) is the first ID value (e.g., 10) and the object ID (ID) of the second object information for the second object (TR2) detected by the second radar device (120) is the second ID value (e.g., 35), if the traffic information collection device (100) determines that the first object (TR1) and the second object (TR2) are the same object (TR), it may set the object ID of the object (TR) to one of the first ID value (e.g., 10) and the second ID value (e.g., 35) (e.g., the first ID value (e.g., 10)), or set it to an ID value different from the first ID value (e.g., 10) and the second ID value (e.g., 35).

[0117] FIG. 6 illustrates a handover process between a first radar device (110) and a second radar device (120) in an around-view radar-based traffic information collection system according to embodiments of the present disclosure.

[0118] Referring to FIG. 6, the object information combination processing unit (320) of the traffic information collection device (100) can perform a “same object determination process” to determine whether the first object (TR1) detected by the first radar device (110) and the second object (TR2) detected by the second radar device (120) are the same object by using information related to each of the first object (TR1) detected by the first radar device (110) and the second object (TR2) detected by the second radar device (120), as well as at least one of the characteristics, installation environment, and road environment of each of the first radar device (110) and the second radar device (120) (S610).

[0119] The object information combination processing unit (320) may perform time correction processing and matching processing to the same coordinate system on at least one of the first object data obtained based on the first object detection information of the first radar device (110) and the second object data obtained based on the second object detection information of the second radar device (120) before performing the same object determination process (S610) (S600). Accordingly, when executing the same object determination process, a more accurate determination of the same object may be possible.

[0120] FIG. 7 illustrates a process for determining the same object included in a handover process according to embodiments of the present disclosure.

[0121] Referring to FIG. 7, the identical object determination process comprises: a first process (S710) for calculating an overlap coefficient (A, also called an overlap coefficient) between the location of a first object (TR1) and the location of a second object (TR2); a second process (S720) for calculating an object trajectory similarity (B) between the trajectory of the first object (TR1) and the trajectory of the second object (TR2); a third process (S730) for calculating an object characteristic similarity (C) between the characteristics of the first object (TR1) and the characteristics of the second object (TR2); a fourth process (S740) for calculating one of the overlap coefficient (A), the object trajectory similarity (B), and the object characteristic similarity (C) as a final determination basis value, or calculating a weighted sum value (T) for two or more of the overlap coefficient (A), the object trajectory similarity (B), and the object characteristic similarity (C) as a final determination basis value; and, based on the final determination basis value, a first It may include a fifth process (S750) for determining whether object (TR1) and second object (TR2) are the same object.

[0122] By performing time correction and coordinate system matching in advance before the identical object determination process is executed, it is possible to set it so that a single object has traveled in the same coordinate system over a continuous flow of time.

[0123] In the fourth process (S740), the weighted sum value can be calculated using the following mathematical formula 1.

[0124] [Mathematical Formula 1]

[0125]

[0126] In the above mathematical formula 1, α is the weight of the overlap coefficient (A), β is the weight of the object trajectory similarity (B), and γ is the weight of the object feature similarity (C). The sum of all three weights (α, β, γ) can be 1. Here, the sum of the three weights (α, β, γ) can be 1 (α+β+γ= 1). Also, each of the three weights (α, β, γ) can be 0 or greater.

[0127] The overlap coefficient (A) can be described as the overlap coefficient of the position probability density functions of the first object (TR1) and the second object (TR2), respectively. That is, the overlap coefficient (A) may be a value indicating that the first object (TR1) and the second object (TR2) existed at the same location at the same time.

[0128] The object trajectory similarity (B) may be a value representing the similarity between the trajectory (movement path, driving path) of the first object (TR1) and the trajectory (movement path, driving path) of the second object (TR2).

[0129] Object characteristic similarity (C) may be a value representing the similarity between the characteristics of the first object (TR1) (e.g., power, speed, distance to the associated object (vehicle), etc.) and the characteristics of the second object (TR2) (e.g., power, speed, distance to the associated object (vehicle), etc.).

[0130] FIG. 8 is a diagram for explaining the overlap coefficient calculation process (S710) in the same object determination process included in the handover process according to embodiments of the present disclosure.

[0131] The traffic information collection device (100) can calculate an overlap coefficient (A) between the location of the first object (TR1) detected by the first radar device (110) and the location of the second object (TR2) detected by the second radar device (120) in order to determine whether the first object (TR1) and the second object (TR2) are the same object. The overlap coefficient (A) may be one of a plurality of factors for determining whether the first object (TR1) and the second object (TR2) are the same object.

[0132] The overlap coefficient (A) can be obtained from the overlap coefficient between the first probability density function (first position probability density function) for the position of the first object (TR1) and the second probability density function (second position probability density function) for the position of the second object (TR2).

[0133] The overlap factor (A) may be a value indicating that the first object (TR1) and the second object (TR2) existed at the same location at the same time. The larger the value of the overlap factor (A), the higher the probability that the first object (TR1) and the second object (TR2) are the same object.

[0134] The location where the first object (TR1) may exist can be estimated from the first detection points (DP1) detected by the first radar device (110), and the location where the second object (TR2) may exist can be estimated from the second detection points (DP2) detected by the second radar device (120).

[0135] Through a Kalman filter, a first probability density function (f(x)) can be obtained, which estimates that the first object (TR1) may exist. Similarly, through a Kalman filter, a second probability density function (g(x)) can be obtained, which estimates that the second object (TR2) may exist.

[0136] The overlap coefficient (A) of the first probability density function (f(x)) and the second probability density function (g(x)) can be calculated through integration over the minimum function value of the first probability density function (f(x)) and the second probability density function (g(x)), as shown in Equation 2 below.

[0137] [Mathematical Formula 2]

[0138]

[0139] FIG. 9 is a diagram for explaining object trajectory similarity calculation processing (S720) in the same object determination process included in the handover process according to the embodiments of the present disclosure.

[0140] The traffic information collection device (100) can calculate object trajectory similarity (B), which is the similarity between the trajectory (910) of the first object (TR1) and the trajectory (920) of the second object (TR2), from the location history (time series data) of the first object (TR1) and the location history data (time series data) of the second object (TR2) in order to determine whether the first object (TR1) and the second object (TR2) are the same object. The object trajectory similarity (B) may be one of a plurality of factors for determining whether the first object (TR1) and the second object (TR2) are the same object.

[0141] The traffic information collection device (100) can store the change in the location of the first object (TR1) over time as first location history data by using location information of the first object (TR1) detected at various points in time through the first radar device (110) (included in the first object detection information).

[0142] The traffic information collection device (100) can store the location change of the second object (TR2) over time as second location history data by using location information of the second object (TR2) detected at various points in time through the second radar device (120) (included in the first object detection information).

[0143] The traffic information collection device (100) can calculate object trajectory similarity (B), which is the similarity between the trajectory (910) of the first object (TR1) and the trajectory (920) of the second object (TR2), by comparing the trajectory (910) of the first object (TR1) and the trajectory (920) of the second object (TR2) based on the first location history data and the second location history data stored as time series data.

[0144] FIG. 10 is a diagram for explaining object characteristic similarity calculation processing (S730) in the same object determination process included in the handover process according to the embodiments of the present disclosure.

[0145] The traffic information collection device (100) can calculate an object characteristic similarity (C) representing the similarity between the characteristics of the first object (TR1) and the characteristics of the second object (TR2) in order to determine whether the first object (TR1) and the second object (TR2) are the same object. The object characteristic similarity (C) may be one of a plurality of factors for determining whether the first object (TR1) and the second object (TR2) are the same object.

[0146] The traffic information collection device (100) can acquire and store first object information (1010) for a first object (TR1) and second object information (1020) for a second object (TR2).

[0147] For example, the first object information (1010) for the first object (TR1) may include at least one object characteristic information among the object ID (ID), power, speed, object type (vehicle type), and distance (accCntAvg) to the associated object (object, vehicle) for the first object (TR1).

[0148] For example, the second object information (1020) for the second object (TR2) may include at least one object characteristic information among the object ID (ID), Power, Speed, object type (vehicle type), and distance (accCntAvg) to the associated object (object, vehicle) for the first object (TR1).

[0149] The traffic information collection device (100) can compare the characteristics of a first object (TR1) (e.g., power, speed, vehicle type, distance from an associated object, etc.) and the characteristics of a second object (TR2) (e.g., power, speed, vehicle type, distance from an associated object, etc.) in a handover section (HO1) to calculate object characteristic similarity (C) and use it in a process for determining identical objects.

[0150] A display device according to embodiments of the present disclosure can be described as follows.

[0151] An around-view radar-based traffic information collection system according to embodiments of the present disclosure may include a first radar device that outputs first object detection information for a first object, a second radar device that outputs second object detection information for a second object, and a traffic information collection device that receives the first object detection information and the second object detection information from the first radar device and the second radar device and performs traffic information collection processing.

[0152] A traffic information collection device may include an object information acquisition unit that acquires first object information for a first object based on first object detection information and acquires second object information for a second object based on second object detection information, an object information combination processing unit that combines and connects the first object information and the second object information to acquire combination data, and a traffic information acquisition unit that acquires traffic information based on the combination data.

[0153] The first radar device is a long-range 3D radar device configured to output first object detection information for a first object detected in a predetermined first long-range detection area, and the second radar device may be a short-range 4D radar device configured to output second object detection information for a second object detected in a predetermined first short-range detection area.

[0154] The first object detection information may further include object velocity information in addition to object location information for the first object. The second object detection information may further include object velocity information and object height information in addition to object location information for the second object.

[0155] The object information acquisition unit may include a precision object information acquisition unit that acquires first object information including precision object location information and precision object speed information based on first object detection information, and an additional object information acquisition unit that acquires second object information including object type information based on second object detection information.

[0156] The additional object information acquisition unit can acquire three-dimensional shape information for the second object based on object location information and object height information for the second object, classify the object type for the second object based on the three-dimensional shape information, and acquire second object information for the second object including object type information according to the classification result.

[0157] The object information combination processing unit performs an identical object determination process to determine whether a first object detected by a first radar device and a second object detected by a second radar device are the same object, based on first object data including first object information and second object data including second object information, and if determined to be the same object, can obtain combination data of handover information that connects the first object and the second object.

[0158] The object information combination processing unit can perform an identical object determination process to determine whether the first object detected by the first radar device and the second object detected by the second radar device are the same object by using information related to each of the first object and the second object, as well as at least one of the characteristics, installation environment, and road environment of each of the first radar device and the second radar device.

[0159] The object information combination processing unit may perform time correction processing on at least one of the first object data and the second object data and perform matching processing to the same coordinate system before performing the same object determination process.

[0160] The identical object determination process may include a first process for calculating an overlap coefficient between the location of a first object and the location of a second object, a second process for calculating an object trajectory similarity between the trajectory of a first object and the trajectory of a second object, a third process for calculating an object characteristic similarity between the characteristics of a first object and the characteristics of a second object, a fourth process for calculating one of the overlap coefficient, the object trajectory similarity, and the object characteristic similarity as a final determination basis value, or calculating a weighted sum value for two or more of the overlap coefficient, the object trajectory similarity, and the object characteristic similarity as a final determination basis value, and a fifth process for determining whether the first object and the second object are the same object based on the final determination basis value.

[0161] The first radar device and the second radar device are installed on a road structure and may be tilted at different directional angles.

[0162] An around-view radar-based traffic information collection system according to embodiments of the present disclosure may further include a third radar device that outputs third object detection information for a third object and a fourth radar device that outputs fourth object detection information for a fourth object.

[0163] The object information acquisition unit can further acquire third object information for the third object based on third object detection information, and further acquire fourth object information for the fourth object based on fourth object detection information.

[0164] The object information combination processing unit can obtain combination data by combining and connecting the first object information, the second object information, the third object information, and the fourth object information.

[0165] The first radar device may be a long-range three-dimensional radar device configured to output first object detection information including object location information and object velocity information for a first object detected in a predetermined first long-range detection area.

[0166] The second radar device may be a short-range 4D radar device configured to output second object detection information including object location information, object velocity information, and object height information for a second object detected in a predetermined first short-range detection area.

[0167] The third radar device may be a near-field 4D radar device configured to output third object detection information including object location information, object velocity information, and object height information for a third object detected in a predetermined second near-field detection area.

[0168] The fourth radar device may be a long-range three-dimensional radar device configured to output fourth object detection information including object location information and object velocity information for a fourth object detected in a predetermined second long-range detection area.

[0169] For example, the first to fourth radar devices may be configured separately.

[0170] As another example, the first radar device and the second radar device may be configured as one set, and the third radar device and the fourth radar device may be configured as one set.

[0171] The second short-range detection area may be closer to the first short-range detection area among the first long-range detection area and the first short-range detection area. The second long-range detection area may be closer to the second short-range detection area among the first short-range detection area and the second short-range detection area.

[0172] The first radar device, the second radar device, the third radar device, and the fourth radar device are installed on at least one road structure.

[0173] The directional angles of the second radar device and the third radar device, respectively, may differ from the directional angles of the first radar device and the fourth radar device, respectively.

[0174] The object information combination processing unit performs an identical object determination process to determine whether the second object and the third object are the same object based on second object data including second object information and third object data including third object information, and if they are determined to be the same object, can obtain combination data of handover information that connects the second object and the third object.

[0175] The object information combination processing unit performs an identical object determination process to determine whether the third object and the fourth object are the same object based on third object data including third object information and fourth object data including fourth object information, and if they are determined to be the same object, can obtain combination data of handover information that connects the third object and the fourth object.

[0176] The object information acquisition unit may include an additional object information acquisition unit that acquires second object information including object type information for a second object based on second object detection information, and acquires third object information including object type information for a third object based on third object detection information.

[0177] The additional object information acquisition unit can acquire three-dimensional shape information for the second object based on object location information and object height information for the second object, and classify the object type for the second object based on the three-dimensional shape information for the second object, thereby acquiring second object information for the second object including object type information for the second object.

[0178] The additional object information acquisition unit can acquire three-dimensional shape information for the third object based on object location information and object height information for the third object, classify the object type for the third object based on the three-dimensional shape information for the third object, and acquire third object information for the third object including object type information for the third object.

[0179] The object information combination processing unit performs an identical object determination process based on second object data including second object information and third object data including third object information, comparing one of three-dimensional shape information or object type information for the second object with one of three-dimensional shape information and object type information for the third object to determine whether the second object and the third object are the same object, and if determined to be the same object, can obtain combination data of handover information that connects the second object and the third object.

[0180] An around-view radar-based traffic information collection device according to embodiments of the present disclosure may include an object information acquisition unit that acquires first object information for a first object based on first object detection information of a first radar device and acquires second object information for a second object based on second object detection information of a second radar device, an object information combination processing unit that combines and connects the first object information and the second object information to acquire combination data, and a traffic information acquisition unit that acquires traffic information based on the combination data.

[0181] According to the embodiments of the present disclosure described above, an around-view radar-based traffic information collection system and a traffic information collection device capable of eliminating or minimizing shaded areas can be provided.

[0182] According to embodiments of the present disclosure, an around-view radar-based traffic information collection system and a traffic information collection device having a handover function between detection areas of a plurality of radar devices can be provided.

[0183] According to embodiments of the present disclosure, by comprehensively considering the characteristics of each of a plurality of radar devices, the installation environment, and the road environment, an around-view radar-based traffic information collection system and a traffic information collection device capable of accurately and continuously performing object detection can be provided.

[0184] The foregoing description is merely an illustrative explanation of the technical concept of the present disclosure, and those skilled in the art to which the present disclosure pertains may make various modifications and variations within the scope of the essential characteristics of the present disclosure. Furthermore, the embodiments disclosed in the present disclosure are intended to explain, not limit, the technical concept of the present disclosure, and thus the scope of the technical concept of the present disclosure is not limited by these embodiments.

[0185]

[0186] [Project ID] 2320000021

[0187] [Assignment No.] 00403630

[0188] [Department Name] National Police Agency

[0189] [Name of Project Management (Specialized) Agency] Science and Public Security Promotion Center

[0190] [Research Project Name] Autonomous Driving Technology Development Innovation Project

[0191] [Research Project Title] Development of an Autonomous Patrol Service for Proactive Traffic Accident Prevention and Response

[0192] [Contribution Rate] 100%

[0193] [Name of Project Performing Organization] Vaida Co., Ltd.

[0194]

[0195] CROSS-REFERENCE TO RELATED APPLICATION

[0196] This patent application claims priority pursuant to Section 119(a) of the U.S. Patent Act (35 USC §119(a)) to Korean Patent Application No. 10-2024-0196061 filed on December 24, 2024, the entire contents of which are incorporated by reference into this patent application. Additionally, this patent application claims priority in countries other than the United States for the same reasons as above, and the entire contents of which are incorporated by reference into this patent application.

Claims

1. A first radar device that outputs first object detection information for a first object; A second radar device that outputs second object detection information for a second object; and A traffic information collection device that receives the first object detection information and the second object detection information from the first radar device and the second radar device and performs traffic information collection processing, and The above traffic information collection device is, An object information acquisition unit that acquires first object information for the first object based on the first object detection information and acquires second object information for the second object based on the second object detection information; An object information combination processing unit that combines and connects the first object information and the second object information to obtain combination data; and Around view radar-based traffic information collection system including a traffic information acquisition unit that acquires traffic information based on the above combination data.

2. In Paragraph 1, The first radar device is a long-range three-dimensional radar device configured to output first object detection information for the first object detected in a predetermined first long-range detection area, and An around-view radar-based traffic information collection system, wherein the second radar device is a near-field 4D radar device configured to output second object detection information for the second object detected in a predetermined first near-field detection area.

3. In Paragraph 1, The first object detection information further includes object velocity information in addition to object location information for the first object, and The above second object detection information further includes object speed information and object height information in addition to object location information for the second object, in an around-view radar-based traffic information collection system.

4. In Paragraph 3, The above object information acquisition unit is, A precision object information acquisition unit that acquires the first object information including precision object position information and precision object velocity information based on the first object detection information; and An around-view radar-based traffic information collection system comprising an additional object information acquisition unit that acquires the second object information including object type information based on the second object detection information.

5. In Paragraph 1, The above object information combination processing unit is, Based on the first object data including the first object information and the second object data including the second object information, A process for determining whether the first object detected by the first radar device and the second object detected by the second radar device are the same object is performed, and An around-view radar-based traffic information collection system that acquires the combination data, including handover information that connects the first object and the second object when they are determined to be the same object.

6. In Paragraph 5, The above object information combination processing unit is, An around-view radar-based traffic information collection system that performs an identical object determination process to determine whether the first object detected by the first radar device and the second object detected by the second radar device are the same object, using information related to each of the first object and the second object, as well as at least one of the characteristics, installation environment, and road environment of each of the first radar device and the second radar device.

7. In Paragraph 5, The above object information combination processing unit is, An around-view radar-based traffic information collection system that, prior to performing the same object determination process, performs time correction processing and matching processing to the same coordinate system for at least one of the first object data and the second object data.

8. In Paragraph 5, The above identical object determination process is, A first process for calculating an overlap coefficient between the position of the first object and the position of the second object; A second process for calculating object trajectory similarity between the trajectory of the first object and the trajectory of the second object; A third process for calculating object characteristic similarity between the characteristics of the first object and the characteristics of the second object; A fourth process for calculating one of the above overlap coefficient, the above object trajectory similarity, and the above object characteristic similarity as the final judgment basis value, or calculating a weighted sum of two or more of the above overlap coefficient, the above object trajectory similarity, and the above object characteristic similarity as the final judgment basis value; and An around-view radar-based traffic information collection system comprising a fifth process for determining whether the first object and the second object are the same object based on the final judgment basis value above.

9. In Paragraph 1, The above-mentioned first radar device and the above-mentioned second radar device are installed on a road structure and are tilted at different directional angles, an around-view radar-based traffic information collection system.

10. In Paragraph 1, A third radar device that outputs third object detection information for a third object; and It further includes a fourth radar device that outputs fourth object detection information for the fourth object, and The object information acquisition unit further acquires third object information for the third object based on the third object detection information, and further acquires fourth object information for the fourth object based on the fourth object detection information, and The above object information combination processing unit combines and connects the first object information, the second object information, the third object information, and the fourth object information to obtain combination data, an around-view radar-based traffic information collection system.

11. In Paragraph 10, The first radar device is a long-range 3D radar device configured to output first object detection information including object position information and object velocity information for the first object detected in a predetermined first long-range detection area, and The second radar device is a near-field 4D radar device configured to output the second object detection information, which includes object location information, object speed information, and object height information for the second object detected in a predetermined first near-field detection area. The third radar device is a near-field 4D radar device configured to output the third object detection information, which includes object location information, object speed information, and object height information for the third object detected in a predetermined second near-field detection area. An around-view radar-based traffic information collection system, wherein the fourth radar device is a long-range 3D radar device configured to output the fourth object detection information, which includes object location information and object speed information for the fourth object detected in a predetermined second long-range detection area.

12. In Paragraph 11, The second near-field detection area is closer to the first near-field detection area among the first long-field detection area and the first near-field detection area, and The above-mentioned second long-range detection area is closer to the second short-range detection area among the first short-range detection area and the second short-range detection area, in an around-view radar-based traffic information collection system.

13. In Paragraph 10, The first radar device, the second radar device, the third radar device, and the fourth radar device are installed on at least one road structure, and An around-view radar-based traffic information collection system in which the directional angles of each of the second radar device and the third radar device are different from the directional angles of each of the first radar device and the fourth radar device.

14. In Paragraph 10, The above object information combination processing unit is, Based on the second object data including the second object information and the third object data including the third object information, a process for determining whether the second object and the third object are the same object is performed, and if they are determined to be the same object, handover information connecting the second object and the third object is obtained from the combination data. An around-view radar-based traffic information collection system that performs an identical object determination process to determine whether the third object and the fourth object are the same object based on third object data including the third object information and fourth object data including the fourth object information, and, if determined to be the same object, obtains the combination data for handover information connecting the third object and the fourth object.

15. An object information acquisition unit that acquires first object information for a first object based on first object detection information of a first radar device, and acquires second object information for a second object based on second object detection information of a second radar device; An object information combination processing unit that combines and connects the first object information and the second object information to obtain combination data; and Around view radar-based traffic information collection device comprising a traffic information acquisition unit that acquires traffic information based on the above combination data.

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