JP2003157487A - Traffic state monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traffic state monitoring device 17 capable of confirming the state of a target detected by a radar type vehicle detection device 11 without going to the field, concerning the traffic state monitoring device 17 equipped with the radar type vehicle detection device 11 for detecting the target existing on a road. SOLUTION: A phenomenon determination part 13 operates a moving locus of the target based on the output from the radar type vehicle detection device 11. When determining an abnormal phenomenon from the moving locus, the phenomenon determination part 13 transmits information S2 such as the position, the speed or the moving locus of the target to an overlay device 14. The overlay device 14 synthesizes the target information S2 with an image S3 photographed by a camera, and index information acquired by relating the target information S2 with the synthesized image is stored in an image accumulation device 15. When a road manager selects and designates information having an image desired to be observed from the index information displayed in a list on a monitor 16, the related image information is read out and displayed reproductively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traffic condition monitoring device for detecting a vehicle, an obstacle, etc. on a road by a radar using electromagnetic waves.

[0002]

2. Description of the Related Art Road transportation by automobile has greatly contributed to socio-economic development, and plays an important role in today's social system. On the other hand, however, the number of traffic accidents has not decreased, and the number of fatalities per year has reached 10,000 or more. Furthermore, traffic congestion has become even more serious, and there are serious problems in recent traffic, and major problems have emerged regarding safety and transportation efficiency, and there is a strong demand for their solution. Against the background of these social demands, interest in safe driving of automobiles has been increasing recently, and an intelligent transportation system (ITS: Intelligent Transport) for supporting safe driving is provided.
t Systems) are being actively promoted.
As one of the intelligent road traffic systems, a traffic condition monitoring device that detects a vehicle, an obstacle, and the like by using a radar is used on a highway, a general road, and the like. The traffic condition monitoring device provides an information service that detects stopped vehicles, low-speed vehicles, obstacles, etc. on the road by a radar device installed along the road as a road infrastructure facility and alerts the vehicle and warns danger. Development is being promoted for the purpose of improving safety by providing control support services such as maintenance and safe inter-vehicle distance maintenance.

An example of the traffic condition monitoring device as described above is shown in Japanese Patent Application No. 8-235699. FIG. 10 is a block diagram showing the configuration of a conventional traffic condition monitoring device 1. In FIG. 10, a conventional traffic condition monitoring device 1 includes a personal computer 2 installed in a road management office.
And the traffic monitoring radar 3 installed along the road. The traffic monitoring radar 3 includes a radar radio unit 4 and an A / D.
It is composed of a converter 5, a speed converter 6, a calculator 7, a frame memory 8, a signal processor 9, and an antenna 10.
The traffic monitoring radar 3 transmits an electromagnetic wave from the antenna 10 to detect a reflected wave reflected by a target such as a vehicle T1 or an obstacle on the road, calculates the position and speed of the target from the reflected wave, and the personal computer 2 11 is displayed on the screen of FIG. In the display of FIG. 11, the vertical axis indicates the lane number, the horizontal axis indicates the distance from the installation position of the traffic monitoring radar 3, the moving target position is "*", and the stopped target position is Was displayed separately as "□".

[0004]

However, in the above-mentioned conventional traffic condition monitoring apparatus 1, since the target is detected by using the radar, the target can be displayed only in a figure such as "□", There is a problem that it is not possible to judge the status of the target, that is, whether it has stopped due to an accident or breakdown, whether it has stopped temporarily at the shoulder of the road, or whether it is a false alarm due to a failure or malfunction of the traffic monitoring radar 2. It was Therefore, it is necessary for the road administrator to move to the place where the detected target exists and visually check the situation of the site.

Even if the above graphic display record is stored in the storage medium, it is difficult to analyze the cause of the accident from the graphic display record such as "□".

It is an object of the present invention to provide a traffic condition monitoring device capable of confirming the condition of a target on a road detected by a traffic monitoring radar without going to the site.

[0007]

A traffic condition monitoring system according to a first aspect of the present invention is a traffic condition monitoring system comprising a radar type detection device for detecting a target on a road, wherein the detected target is A camera that captures an area including at least the information of the target obtained by the radar detection device,
A data link unit that stores the image information associated with the image information captured by the camera when the object is detected, and outputs the image information of the associated camera when the information of the object is designated. is there.

A traffic condition monitoring system according to a second aspect of the present invention comprises overlay means for synthesizing the information of the target on the image of the camera stored in association with the information of the target, When the information is designated, the combined video information is output.

In the traffic condition monitoring system according to the third aspect of the present invention, the target information obtained by the radar type detection device is target position data, and an abnormal event of the target is determined based on the position data. When the event determination unit determines an abnormal event, the data link means, the information of the target obtained by the radar type detection device, the image information synthesized by the overlay means. It is stored in association with.

A traffic condition monitoring system according to a fourth aspect of the present invention comprises display means for displaying a list of information on a plurality of targets stored in association with each other when the event determination section determines an abnormal event, and the list display is performed. When any one of the plurality of target information is designated, the image information associated with the designated target information is output.

In the traffic condition monitoring system according to the fifth aspect of the present invention, it is assumed that the information on the target is a moving locus of the target.

In the traffic condition monitoring system according to the sixth aspect of the present invention, the overlay means further includes inclination correcting means for correcting and synthesizing the displacement of the display position of the movement trajectory based on the data regarding the inclination of the road. is there.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS.

Embodiment 1. FIG. 1 is a schematic diagram showing the configuration of the traffic condition monitoring apparatus according to the first embodiment. In FIG. 1, a radar-type vehicle detection device 11, a camera 12, and an event determination unit 13 are attached to a pillar standing on the road side of the road, and an overlay device 14 is installed in a road management office.
The image storage device 15 and the monitor 16 are installed, and information obtained by the road type vehicle detection device 11 by the road administrator and the camera 1
You can see the video shot in 2. The radar-type vehicle detection device 11 scans and transmits / receives pulsed radio waves of a constant cycle with respect to the detection coverage area B1 on the road, and the camera images the imaging area B2 including the entire detection coverage area B1. The corner is set.

FIG. 2 is a traffic condition monitoring device 1 having the configuration of FIG.
It is a block diagram of FIG. The radar-type vehicle detection device 11 includes an antenna 18, an antenna transmission / reception unit 19, and a radar signal processing unit 20. The antenna transmission / reception unit 19 transmits a radio wave to the detection coverage B1 via the antenna 18, receives the reflected wave reflected back via the antenna 18, and sends the received signal to the radar signal processing unit 20. The radar signal processing unit 20 stores in advance the received signal when there is no target such as a vehicle or an obstacle in the detection coverage area B1 as reference data, and when the vehicle T1 enters the detection coverage area B1, or Detects that there is a target in the direction of the received reflected wave based on the fact that the received signal obtained when the transmitted wave is reflected by those targets when there is an obstacle such as earth and sand is different from the reference data. Then, the position of the target is calculated from the direction of the reflected wave and the time until it returns. The radar signal processing unit 20 also calculates the velocity of the target from the frequency change of the reflected wave with respect to the transmitted wave. The radar-type vehicle detection device 11 outputs the calculated position and speed information S1 of the target to the event determination unit 22.

The event determination unit 22 performs a tracking process for each detected target based on the information on the position and speed of each target input from the radar type vehicle detection device 11 to calculate a movement trajectory S3. In addition, based on the position data of the target such as the position of the target or the speed that is the change in position, or the movement trajectory that is the position of the continuous target, the target stops, runs at low speed, and travels to the opposite lane. Abnormal events such as jumping out, congestion, reverse running, and movements by moving objects on the road are determined, and determination information indicating the type of abnormal event is obtained. Then, the information S2 of the target obtained by the radar type vehicle detection device 11 is output to the overlay device 14. Here, the information on the target includes determination information indicating the type of the determined abnormal event, information on the position, speed, and movement trajectory of the target.

The overlay device 14 receives the image information S3 taken by the camera 12 and the target information S2 obtained by the radar type vehicle detection device 11. At this time, the overlay device synthesizes the target information S2 and the image information S3 captured by the camera 12 at the same time when the target is detected. That is, as shown in FIG. 3, on the image of the camera 12, the shooting date and time M1 and the target information (determined event M2, target position M3, movement) obtained by the radar-type vehicle detection device 11. A synthetic image S4 displaying the locus M4, etc.) is generated and stored in a recording medium such as an optical disk or a hard disk of the image storage device 15. At this time, the information such as the time information M1, the event M2, and the position M3 is set so as to be displayed at a position other than the road on the screen, and it is possible to prevent the display of the car and the like on the road from becoming difficult to see. There is. Regarding the movement track M4, when calculated by the event determination unit 13, the three-dimensional Cartesian coordinates (X, Y, Z) as shown in FIG.
C1 (origin: root of pillar where radar is installed, Z axis: road depth direction, X axis: road crossing direction, Z axis: height direction) is a continuous point coordinate, but a general geometric formula is used. Then, the camera 12 is subjected to coordinate conversion into a point on the image on the two-dimensional coordinates (x, y) (Equation 1). At this time, the overlay device 14 holds data necessary for coordinate conversion, such as coordinates of the installation position of the radar and coordinates of the installation position of the camera.

(X, y) = f (X, Y, Z) Equation 1 When the radar-type vehicle detection device 11 detects a target that is far away, the position of the target on the horizontal plane (X, Z) Can be detected with a certain degree of accuracy, but the height Y cannot be detected accurately. Therefore, when the road has a gradient, the position of P2 on the virtual horizontal plane is detected even if the vehicle T1 is actually at the position of P1 as shown in FIG. The movement track is displayed at a position different from the target position. Therefore, in the conversion of the equation 1, the overlay device 14 uses the measured road inclination data, for example, the height data h with respect to the horizontal plane at the position (X, Z).
(X, Z) is held, the shift of the display position of the movement track M4 is corrected based on this inclination data, and the movement track M4 is displayed at the actual target position on the camera image. It should be noted that if the road has a slight slope, it can be displayed without any correction without any correction. Therefore, if the height data h (X, Z) is greater than or equal to a predetermined value, correction is performed and If it is small, the correction may not be performed.

By displaying the information of these targets, the condition of the targets can be grasped more accurately. For example, when the vehicle T1 is far from the installation position of the camera 12,
The exact position, speed, etc. of the vehicle T1 are difficult to understand from the image of the camera 12, but they can be accurately grasped by the composite display. By combining and displaying the movement track M4 among these pieces of information, the movement of the target can be discriminated even when the image is difficult to see due to weather such as rain and fog, and the past movement route of the vehicle can be determined from one image. It is possible to grasp the information, and further, it is possible to confirm whether or not the radar type vehicle detection device 11 is operating normally from the deviation between the position of the target and the position of the trajectory displayed in the image.

When the input target information includes judgment information indicating an abnormal event, the overlay device 14 combines the images and simultaneously obtains the target information obtained by the radar type vehicle detection device 11. Of information S2 and the image information S3 captured by the camera 12 when the target is detected are linked and associated. That is, the index information S4 having the data structure of {input time, determined event type, target position, pointer pointing to address of combined video data on storage medium} shown in FIG. Save to. Further, the overlay device 14 transmits the timing information S5 to the video storage device 15 at the same time as transmitting the index information S4.

In the video recording device 15, the above-mentioned storage operation of the composite video is always performed, and when it is stored in the last recording medium, it returns to the first recording medium and overwrites new information. However, when the timing signal S5 is input from the overlay device 14, the flag that determines whether or not overwriting is enabled is set to ON, and it is set so that overwriting is not performed.

The monitor 16 displays a list of the time when the abnormal event occurred, the type of the abnormal event, and the position of the target, based on the stored index information S4. The road administrator designates the information desired to be viewed from the displayed list on the monitor 16 with a pointing device such as a mouse, and the designated index information S4 is displayed.
Image S stored at the address indicated by the pointer
6 can be read and reproduced and displayed on the monitor 16. As a result, the road administrator can confirm the status of the target without going to the location of the target where the abnormal event is determined. When an accident has occurred, the cause of the accident can be analyzed by looking at the video stored in the video storage device 15. In addition, the designation of the target you want to see is
It may be performed by instructing the graphic display of the target as shown in FIG.

In the first embodiment, the case where the pulse system is used as the radio wave transmission system has been described, but other radar devices used for the radar type vehicle detection device 11 include FM-CW system and SS system. Can be considered.

Embodiment 2. FIG. 7 is a schematic diagram showing the configuration of the second embodiment. In the second embodiment, a plurality of cameras 12 are installed at intervals along the road. When the radar-type vehicle detection device 11 detects a target, the camera 12 corresponding to the detected position of the target is selected, and the image of the selected camera 12 is stored in the image storage device 15. For example, in the situation shown in FIG. 7, the radar type vehicle detection device 11 detects that the vehicle T1 is in the area B,
The image captured by the camera 12B corresponding to the area B is stored in the image storage device 15. Further, in this case, which camera 12 is included in the image combined by the overlay device 14
The number of the camera 12 may be displayed so that the image can be recognized as a video image captured in. In the second embodiment, the camera 12 is fixed and is configured to photograph a fixed image pickup area. However, the photographing direction of the camera 12 can be arbitrarily changed by using a motor or the like, and the camera 12 is set to the telephoto side. It is also possible to provide a lens and direct the camera 12 toward the target based on the information of the position calculated from the reflected wave, and enlarge the target with the telephoto lens to take an image. As a result, it is possible to make it easier to check the situation even for a target that is far away. Further, when performing nighttime photography, a camera such as an infrared camera that receives electromagnetic waves in a wavelength range different from visible light may be used.

Embodiment 3. FIG. 8 is a schematic diagram showing the configuration of the third embodiment, and FIG. 9 is a configuration diagram of the traffic condition monitoring device 17 of the third embodiment. In the third embodiment, the laser radar type vehicle detection device 21 is installed on the roadside. The laser radar type vehicle detection device 21 scans and transmits the laser light from the laser light transmission / reception unit 22 to the detection coverage area B3 and reflects the vehicle T1 that travels on the road, and the reflection reflected by an object such as an obstacle on the road. The target is detected by receiving the wave and processing the received signal by the laser light signal processing unit 23. The output S1 of the laser radar type vehicle detection device 21 is the same information on the position and speed of the vehicle as in the first embodiment, and is input to the event determination unit 13. The other components such as the camera 12, the overlay device 14, the video storage device 15, and the monitor 16 are the same as those in the first embodiment.
Performs the same operation as. In the third embodiment, since the laser light is used as the transmission wave, the transmission wave can be made thinner as compared with the case of transmitting the electric wave by using the antenna, and thus the high spatial resolution can be obtained. .

[0026]

According to the first aspect of the present invention, since the information obtained by the radar type detection device and the image information of the camera are associated with each other, the information obtained by the radar type detection device is designated to associate the information. The image information of the captured camera can be read, and the condition of the target can be confirmed without going to the site.

According to the second aspect of the invention, since the target information is combined with the image of the camera, the condition of the target can be accurately grasped.

According to the third aspect of the invention, by storing the information when the abnormal event is determined, the cause of the accident can be analyzed later.

According to the fourth aspect of the present invention, the information of the targets for which an abnormal event is determined is displayed in a list, and when any one of them is designated, the associated image information is provided. Can be viewed with a simple operation, and the cause of an accident can be analyzed efficiently.

According to the fifth invention, on the image of the camera,
By combining the information of the associated targets, the movement of the target can be confirmed even when the field of view of the camera is poor. Further, since the movement locus is deviated, it is possible to determine the failure of the radar type vehicle detection device.

According to the sixth aspect of the present invention, the radar type detection device cannot accurately detect the height of the distant target, and detects the position on the virtual horizontal plane as the position of the target. If there is an inclination, the movement locus will be drawn on the screen of the monitor at a position different from the target, but by correcting the deviation of the display position of the movement locus based on the data regarding the inclination of the road, It is possible to display the movement trajectory according to the position of the target.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a first embodiment of a traffic condition monitoring apparatus according to the present invention.

FIG. 2 is a configuration diagram showing a first embodiment of a traffic condition monitoring device according to the present invention.

FIG. 3 is an explanatory diagram of overlay video according to the first embodiment.

FIG. 4 is an explanatory diagram illustrating coordinate conversion according to the first embodiment.

FIG. 5 is an explanatory diagram illustrating inclination correction of coordinate conversion according to the first embodiment.

FIG. 6 is an explanatory diagram showing a data structure of index information according to the first embodiment.

FIG. 7 is a schematic diagram showing a second embodiment of the traffic condition monitoring apparatus according to the present invention.

FIG. 8 is a schematic diagram showing Embodiment 3 of the traffic condition monitoring apparatus according to the present invention.

FIG. 9 is a configuration diagram showing a third embodiment of the traffic condition monitoring apparatus according to the present invention.

FIG. 10 is a configuration diagram of a conventional traffic condition monitoring device.

FIG. 11 is an explanatory diagram of screen display in a conventional traffic condition monitoring device.

[Explanation of symbols]

12 camera, 13 event determination unit, 14 overlay device, 15 video storage device, 16 monitor (display device), 17 traffic condition monitoring device, 18 antenna, 19
Antenna transmitting / receiving unit, 20 Radar signal processing unit.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G08G 1/052 G08G 1/052 // G01S 17/88 G01S 17/88 Z F term (reference) 5H180 AA01 BB13 BB15 CC02 CC03 CC04 CC12 CC14 DD03 EE02 EE11 5J070 AB01 AC01 AC06 AD01 AE01 AE20 AF01 AJ13 AK39 BA01 BD08 5J084 AA05 AA07 AB01 EA22

Claims (6)

[Claims] 1. A traffic condition monitoring system including a radar type detection device for detecting a target on a road, comprising: a camera for photographing an area including at least the detected target; and the radar type detection device. Data link means for storing the obtained information of the target in association with the image information captured by the camera when the target is detected, and when the information of the target is designated, the data link is associated. A traffic condition monitoring device characterized by outputting video information of a camera. 2. Overlay means for synthesizing the information of the target on the image of the camera stored in association with the information of the target is provided, and when the information of the target is designated, the overlay is performed. The traffic condition monitoring device according to claim 1, wherein the video information is output. 3. The target information obtained by the radar type detection device is position data of the target, and an event determination unit for determining an abnormal event of the target based on the position data is provided, and the data link The means stores the information of the target obtained by the radar detection device in association with the image information synthesized by the overlay means when the event determination unit determines an abnormal event. The traffic condition monitoring device according to claim 2. 4. A display unit for displaying a list of target information stored in association with each other when the event determination unit determines an abnormal event, and any one of the displayed target information items is designated. The traffic condition monitoring apparatus according to claim 3, wherein the video information associated with the information of the designated target is output. 5. The traffic condition monitoring apparatus according to claim 2, wherein the information on the target is a movement trajectory of the target. 6. The traffic according to claim 5, wherein the overlaying means further has a tilt correcting means for correcting and synthesizing a displacement of a display position of a movement locus based on data on a road inclination. Situation monitoring device.