JP2001331890A - Pedestrian detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pedestrian detector capable of surely detecting a pedestrian. SOLUTION: The pedestrian detector for detecting the pedestrian in a pedestrian area is provided with plural radars 101 and 102 and a detecting means 103 for detecting the presence/absence of pedestrian from the reflection strength of the radars and the pedestrian area is collated with radar waves from the plural radars so as to practically cover all the area. Since attenuation is reduced even on the adverse weather conditions such as snow and the pedestrian is detected by using the radars to be hardly affected by dirt on the surface of an antenna, detection performance is not deteriorated even by very bad weather conditions or long-term use and the pedestrian can be surely detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pedestrian detection device for detecting a pedestrian who passes a pedestrian crossing or the like.
Even if the weather conditions are bad, the pedestrian can be reliably detected.

[0002]

2. Description of the Related Art In recent years, pedestrian detecting devices for detecting pedestrians on a pedestrian crossing have been developed in order to secure pedestrians on the pedestrian crossing. As such a pedestrian detection device, Japanese Patent Application Laid-Open No. H11-126297 discloses the device shown in FIG.

As shown in FIG. 14 (a), this pedestrian detecting device has a light emitting diode array 1403, 1404 arranged on both sides of a pedestrian crossing and a light emitting diode array 1403, 1404 on the opposite side of the pedestrian crossing. The camera is provided with cameras 1401 and 1402 for taking a picture of a pedestrian crossing, and detecting means 1405 for detecting a pedestrian from information on the camera and the light emitting diode array. FIG. 14B shows the viewing angles 1407 and 1407 of the cameras 1401 and 1402, respectively.

In this pedestrian detection device, when a pedestrian is not on a pedestrian crossing, the camera 1401 is driven by a light emitting diode
1404 light is received. On the other hand, when there is a pedestrian, the light of the light emitting diode array 1404 is blocked. Similarly, the camera 1402 detects the light of the light emitting diode 1403, and the detecting unit 1405 detects the pedestrian from the light receiving information of the cameras 1401 and 1402.

[0005]

However, in the above-described configuration, the light from the light emitting diode array is attenuated due to bad weather conditions such as snow and the detection performance is deteriorated, and the detection performance is deteriorated due to contamination of the light emitting surface of the light emitting diode array. Had a problem of deterioration.

An object of the present invention is to solve such a conventional problem, and an object of the present invention is to provide a pedestrian detection device capable of reliably detecting a pedestrian under any circumstances.

[0007]

Accordingly, the present invention provides a pedestrian detection device for detecting a pedestrian in a detection area, comprising a plurality of radars and a detection means for detecting the presence or absence of a pedestrian from the reflection intensity of the radar. A plurality of radars are configured to emit radio waves for detection to the entire detection area.

[0008] For this reason, pedestrians are detected using a radar that is less attenuated even in bad weather conditions such as snow and is not easily affected by dirt on the antenna surface. The detection performance does not deteriorate, and the pedestrian can be reliably detected.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A pedestrian detection device according to a first embodiment has a plan view of FIG.
As shown in the side view of (b), the radar system includes radars 101 and 102 arranged diagonally above the pedestrian crossing, and detection means 103 for detecting a pedestrian based on the reflection intensity of the radar.

The radar 101 and the radar 102 emit radio waves, receive the reflected waves, and output the reflected information to the detecting means 103. The detecting means 103 detects the distance and speed of the passing pedestrian from the radar based on the reflection information of the radar 101 and the radar 102, and detects the presence or absence of the pedestrian in the pedestrian area. FIG. 1B shows the irradiation direction of the radar 101 and the radar 102. The entire irradiation area may be irradiated at once from the radar, or scanning may be performed at a small angle.

The radar 101 and the radar 102 have a small attenuation even in bad weather conditions such as snow, and have a millimeter wave band radio wave radar (millimeter wave radar) which is hardly affected by dirt on the antenna surface.
Use In this device, the distance and speed of the reflected object can be measured by the radars 101 and 102. Therefore, by tracking the target, even if the intensity of the reflected wave changes, the pedestrian can be reliably observed by observing for a certain period. Can be detected.

As described above, in this pedestrian detection device, the pedestrian is detected by using the radar which is less attenuated even in bad weather conditions such as snow and is less affected by dirt on the antenna surface. Can be reliably detected. Also,
In addition to detecting the presence or absence of a pedestrian, the pedestrian can be reliably detected by measuring the distance and speed of the pedestrian at regular time intervals and continuously analyzing the data.

The radars 101 and 102 may be an ultrasonic radar or a laser radar.

(Second Embodiment) In the pedestrian detection device according to the second embodiment, the plan view of FIG.
As shown in the side view of (b), the radars 201 and 202 are installed above the pedestrian area, and a pedestrian passing directly below is detected by the radar. The pedestrian detection method is the same as in the first embodiment.

Thus, by irradiating the radar from above the pedestrian, the pedestrian on the pedestrian crossing can be accurately detected.

(Third Embodiment) In the pedestrian detection device according to the third embodiment, the plan view of FIG.
As shown in the side view of (b), radars 301 and 302 are installed on the road surface. FIG. 3B shows the irradiation direction of the radar 301. The pedestrian detection method is the same as in the first embodiment.

In this device, by installing the radar on the road surface, it is possible to reliably detect a pedestrian without impairing the appearance.

(Fourth Embodiment) In the pedestrian detection device according to the fourth embodiment, the plan view of FIG.
As shown in the side view of (b), the radars 401 and 402 are installed on roadside columns such as guardrails. FIG. 4B shows the irradiation direction of the radar 401. The pedestrian detection method is the same as in the first embodiment.

In this device, since the radar is installed on the guardrail, the pedestrian can be reliably detected without impairing the appearance.

(Fifth Embodiment) In a pedestrian detecting apparatus according to a fifth embodiment, as shown in the plan view of FIG. 5A, two radars 501 and 502 are provided on each side of a pedestrian crossing. Radars 503 and 504 are arranged so as to be able to irradiate a radar wave doubly on the detection surface. FIG. 5B is a plan view showing a radar radiation surface. The method of detecting pedestrians by each radar is the same as in the first embodiment.

In this device, since the detection surface is double-detected by a plurality of detection means, a pedestrian can be reliably detected.

(Sixth Embodiment) A pedestrian detection device according to a sixth embodiment is a plan view of FIG. 6A and FIG. 6B.
As shown in the side view, radars 601 and 602 installed on roadside pillars such as guardrails, radar reflectors 604 and 605 installed on the road surface, and detection means 603 for detecting pedestrians from radar reflection information. It has.

FIG. 6B shows the relationship between the irradiation direction of the radar 601 and the reflecting plate 604. When the pedestrian is not on the pedestrian crossing, the radar wave emitted from the radar 601 is more strongly reflected by the reflector 604 than the road surface. On the other hand, when the pedestrian is passing the crosswalk, not only is there a reflection from the pedestrian, but also the reflection from the reflector 604 is attenuated by the pedestrian. The detecting means 603 compares the current reflection intensity with the reflection intensity when there is no pedestrian, and detects the presence or absence of a pedestrian from the difference (relative reflection intensity).

As described above, in this device, the pedestrian can be reliably detected by installing the reflector on the road surface facing the radar and measuring the relative reflection intensity depending on the presence or absence of the pedestrian.

(Seventh Embodiment) In the pedestrian detection apparatus of the seventh embodiment, as shown in FIG. 7, a reflector 702 is installed at a position directly facing the radar 701.

Therefore, the reflection from the reflection plate 702 is increased, and the relative reflection intensity when the pedestrian is at or not on the pedestrian crossing can be increased, and the pedestrian can be detected reliably.

(Eighth Embodiment) In a pedestrian detection apparatus according to an eighth embodiment, as shown in FIG. 8, a reflective paint 802 is applied to an irradiation surface of a radar 801. The reflective paint 802 contains a metallic substance and reflects radar waves. The detection operation in this case is the same as in the sixth embodiment.

As described above, by applying the reflective paint to the road surface, the relative reflection intensity depending on the presence or absence of a pedestrian can be increased, and the pedestrian can be detected reliably.

(Ninth Embodiment) In a pedestrian detecting apparatus according to a ninth embodiment, as shown in FIG. 9, a reflective paint 902 is applied to an irradiation surface of a radar 901 and a reflective paint 902 is applied.
Absorbing paint 903 is applied to both ends of the. Absorbent paint 903
Contains a radio wave absorbing material and suppresses the reflection of radar waves. The detection operation of this device is the same as in the sixth embodiment.

As described above, by applying the absorbent paint 903 around the application area of the reflective paint 902, it is possible to suppress reflection from unnecessary surfaces other than the area where the pedestrian is detected, and The pedestrian can be reliably detected by increasing the relative reflection intensity depending on the presence or absence.

(Tenth Embodiment) In a pedestrian detection apparatus according to a tenth embodiment, as shown in FIG. 10, a reflective paint 1001 is applied to the entire pedestrian crossing. Figure 2 shows the radar
Installed above the pedestrian crossing as shown in. The detection operation of this device is the same as in the sixth embodiment.

As described above, by applying the reflective paint to the pedestrian crossing and irradiating the radar from above the pedestrian crossing,
The relative reflection intensity according to the presence or absence of a pedestrian can be increased, and the pedestrian can be detected reliably. (Eleventh Embodiment) In the pedestrian detection device of the eleventh embodiment, as shown in FIG. Reflective paint on pedestrian crossings11
01 and the absorbent paint 1102 are alternately applied. The radar is installed above the pedestrian crossing and scans sequentially.

As described above, by applying the reflective paint and the absorbent paint alternately and scanning the radar, when there is no pedestrian on the pedestrian crossing, regular periodic reflection information can be obtained. On the other hand, when there is a pedestrian on the pedestrian crossing, this periodic reflection is disturbed. The detection means
The pedestrian is detected by detecting the disturbance of the periodic reflection. Pedestrians can be reliably detected from the radar installed above the pedestrian crossing.

(Twelfth Embodiment) In the pedestrian detection apparatus of the twelfth embodiment, as shown in FIG. Paint 1201 and absorbent paint 1202 are applied alternately. The radar is disposed on the side of the road, and sequentially scans the application area of the reflective paint and the absorbent paint. The detection operation of this device is the same as that of the eleventh embodiment.

As described above, by alternately applying the reflective paint and the absorbent paint, the presence or absence of a pedestrian can be clearly identified, and the pedestrian can be reliably detected from the radar installed on the roadside. can do.

(Thirteenth Embodiment) As shown in FIG. 13 (a), a pedestrian detection device according to a thirteenth embodiment includes radars 1301 and 1302 installed on the roadside and reflections installed on the roadside.
Antenna arrays 1304 and 1305 whose absorption is controlled, and radar
Detection means 13 for detecting pedestrians from the reflection intensity of 1301, 1302
03 and.

Each unit of the antenna array is shown in FIG.
As shown in (b), the circulator 13 is attached to the antenna 1306.
07 is connected to the switch 1308, and when the switch 1308 is on, the radio wave coming from the antenna 1306 passes through the circulator 1307 and is reflected from the antenna 1306. On the other hand, when switch 1308 is off, antenna 1306
The incoming radio waves are absorbed without being reflected.

The radar 1301 and the radar 1302 of this pedestrian detection device radiate toward the antenna array 1305, and the radar 1302 radiates toward the antenna array 1304 without scanning. On the other hand, antenna array 1304
Is controlled such that only one of the switches 1308 in the array is turned on, the other switches are turned off, and the switches that are turned on are controlled to move in a sequential scan. Thus, only one array of antennas is reflective, the other antennas are absorptive, and the reflective antennas move sequentially. The same applies to the antenna array 1305.

Therefore, even if the radars 1301 and 1302 are not scanned, the reflective antennas of the antenna arrays 1304 and 1305 are sequentially moved, which is similar to the case where the alternate area between the reflective and the absorptive is scanned by the radar. Reflection information can be obtained.

As described above, it is possible to detect the presence or absence of a pedestrian by installing a plurality of antennas capable of controlling reflection and absorption on the road side and sequentially moving the reflective antennas.

Although the embodiment has been described with respect to the case where a pedestrian on a pedestrian crossing is detected, the present invention may be used to detect a pedestrian who has entered another location, for example, an inaccessible area. It is possible.

[0042]

As is clear from the above description, since the pedestrian detection device of the present invention detects pedestrians using radar, the attenuation is small even in bad weather conditions such as snow, and the antenna surface Pedestrians can be reliably detected without deterioration in detection performance even when used for a long time.

In addition to detecting the presence or absence of a pedestrian, pedestrians can be reliably detected by analyzing data on the distance and speed of the pedestrian from the radar measured at regular intervals.

In addition, a pedestrian can be reliably detected by installing a reflection area made of a reflector or a reflective paint and measuring the relative reflection intensity depending on the presence or absence of a pedestrian.

Further, by arranging the reflectors and the absorbers alternately, or by realizing the same effect by sequential scanning of the reflective antenna in the antenna array, the pedestrian can be reliably detected. .

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a pedestrian detection device according to a first embodiment of the present invention,

FIG. 2 is an explanatory diagram of a pedestrian detection device according to a second embodiment of the present invention,

FIG. 3 is an explanatory diagram of a pedestrian detection device according to a third embodiment of the present invention,

FIG. 4 is an explanatory view of a pedestrian detection device according to a fourth embodiment of the present invention,

FIG. 5 is an explanatory diagram of a pedestrian detection device according to a fifth embodiment of the present invention,

FIG. 6 is an explanatory diagram of a pedestrian detection device according to a sixth embodiment of the present invention;

FIG. 7 is an explanatory diagram of a pedestrian detection device according to a seventh embodiment of the present invention;

FIG. 8 is an explanatory diagram of a pedestrian detection device according to an eighth embodiment of the present invention;

FIG. 9 is an explanatory diagram of a pedestrian detection device according to a ninth embodiment of the present invention,

FIG. 10 is an explanatory diagram of a pedestrian detection device according to a tenth embodiment of the present invention;

FIG. 11 is an explanatory diagram of a pedestrian detection device according to an eleventh embodiment of the present invention;

FIG. 12 is an explanatory diagram of a pedestrian detection device according to a twelfth embodiment of the present invention,

FIG. 13 is an explanatory diagram of a pedestrian detection device according to a thirteenth embodiment of the present invention,

FIG. 14 is an explanatory diagram of a conventional pedestrian detection device.

[Explanation of symbols]

101, 102, 201, 202, 301, 302, 401, 402, 501-504,
601, 602, 701, 801, 901, 1301, 1302 Radar 103, 203, 303, 403, 505, 603, 1303, 1405 Detection means 604, 702, 802 Reflector 902, 1001, 1101, 1201 Reflective paint 903, 1102, 1202 Absorbent paint 1304, 1305 Antenna array 1306 Antenna 1307 Circulator 1308 Switch 1401, 1404 Light emitting diode array 1406, 1407 Viewing angle

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) // G08G 1/08 G08G 1/08 C F term (Reference) 5B057 AA16 BA01 BA19 DA06 DB02 DB05 DB09 5H180 AA21 CC12 CC14 CC24 HH19 JJ07 5J070 AA04 AB24 AC02 AC06 AC20 AD06 AE07 AE09 AF01 AG07 AH33 AH50 AK40 BA10 BB01

Claims (15)

[Claims] 1. A pedestrian detection device for detecting a pedestrian in a detection area, comprising: a plurality of radars; and a detection unit for detecting the presence or absence of a pedestrian based on the reflection intensity of the radar. A pedestrian detection device, wherein radio waves for detection are applied to the entire area. 2. The pedestrian detection device according to claim 1, wherein the plurality of radars are installed so as to face both ends of a diagonal line of the detection area. 3. The pedestrian detection apparatus according to claim 2, wherein the radar is installed on a road-side pillar such as a guardrail, and irradiates a pedestrian area on a road with a radar wave. 4. The radar according to claim 2, wherein the radar is installed at a height equivalent to a detection surface of the detection area.
2. The pedestrian detection device according to 1. 5. The radar according to claim 1, wherein the radar is installed opposite to both ends of each diagonal line of the detection area, and a detection surface of the detection area is illuminated doubly by radar waves of a plurality of radars. The pedestrian detection device according to claim 2, wherein 6. The pedestrian detection device according to claim 1, wherein the radar is installed right above the detection area. 7. A reflector is provided at an irradiation destination of the radar, and the detecting means detects a pedestrian by utilizing that a radar reflection intensity from the reflector is attenuated by the presence of a pedestrian. The pedestrian detection device according to claim 1, wherein: 8. The pedestrian detection device according to claim 7, wherein a reflector serving as the reflector is provided on an extension of a detection surface of the detection area. 9. The pedestrian detection device according to claim 7, wherein a reflective paint is applied as the reflector on an extension of the detection surface of the detection area. 10. The pedestrian detection device according to claim 9, wherein an application area of the absorbent paint is formed in contact with the application area of the reflective paint. 11. The pedestrian detection device according to claim 7, wherein a reflective paint as the reflector is applied to the entire detection surface of the detection area. 12. A stripe region in which a coating region of a reflective paint and a coating region of an absorptive paint are alternately arranged at an irradiation destination of the radar, and the radar scans the stripe region to reflect the light. The pedestrian detection device according to claim 1, wherein the intensity is detected. 13. The striped region is formed at an end of a detection surface of the detection region.
2. The pedestrian detection device according to 1. 14. The pedestrian detection device according to claim 12, wherein the striped region is formed on the entire detection surface of the detection region. 15. A plurality of antennas whose reflectivity and absorptivity can be controlled are installed at an irradiation destination of the radar, and the antennas having reflectivity are sequentially moved among the plurality of antennas. The pedestrian detection device according to claim 1, wherein the radar performs sequential scanning control, and the radar detects a reflection intensity while fixing an irradiation range.