JP6728790B2 - Bicycle detection device, bicycle detection method, and bicycle detection program - Google Patents

Description

The present invention relates to a technique for detecting a bicycle running in a detection area.

BACKGROUND ART Conventionally, in order to prevent an accident between a bicycle and a pedestrian, a traffic zone in which the bicycle and the pedestrian pass is divided. Specifically, a pedestrian lane for pedestrians and a bicycle lane for bicycles are classified. In some shopping districts, etc., it is forbidden to ride on a bicycle (some places restrict pushing the bicycle to pass). In addition, in order to prevent accidents between bicycles, there is a section in which the traveling direction of the bicycle is limited to one direction (one-way section).

On the other hand, in order to prevent a bicycle accident, it is important not only to improve the road environment (traffic environment), but also to make the bicycle users comply with the traffic rules (enhancement of traffic etiquette).

In Patent Document 1, a running bicycle is detected in a section where a bicycle is prohibited to run (a pedestrian-only road, etc.), and when the running bicycle is detected, A device that warns the user is described.

JP, 2010-134647, A

However, in Patent Document 1, it is determined whether or not the object reflecting the infrared light emitted from the light emitting element is a bicycle depending on the time when the light receiving element receives the reflected light of the infrared light emitted from the light emitting element. Is. Therefore, a running person may be erroneously detected as a bicycle. In addition, since a typical bicycle is made up of a frame and the spokes of the wheels to which the tires are attached are thin, the infrared light emitted from the light emitting elements to the sides of the bicycle will not be reflected by the bicycle. It does not hit the frame, etc.), but it falls out on the other side (the reflected light cannot be received by the light receiving element), and the bicycle may be missed (bicycle detection omission).

Here, detecting an object that is not a bicycle as a bicycle is referred to as false detection, and not detecting a bicycle as a bicycle is referred to as detection failure.

An object of the present invention is to provide a technique for improving the detection accuracy of a bicycle located in the detection area.

The bicycle detection device of the present invention is configured as follows in order to achieve the above object.

The scanning unit scans the detection area in the width direction with the exploration wave and detects the reflected wave. The exploration wave may be a laser beam, a millimeter wave, or an electromagnetic wave other than these. The measuring unit measures the flight time from when the scanning unit irradiates the exploration wave to when the reflected wave is detected. By measuring the flight time, the distance L to the reflection point (the surface of the object) that reflected the exploration wave can be obtained.

The object detection unit obtains the position of the reflection point in the detection area that reflects the search wave using the irradiation direction of the search wave by the scanning unit and the flight time measured by the measurement unit, and the position within the detection area is obtained. Detect an object that does. The object detection unit groups the reflection points on an object-by-object basis by determining whether the two reflection points are the same object or different objects according to the distance between the two reflection points. For example, the object detection unit determines that two reflection points that are within the first distance in the width direction of the detection area and within the second distance in the direction orthogonal to the width direction of the detection area are the same object. judge. The group of reflection points grouped by the object detection unit is one object.

The length estimation unit estimates the length of the detection area in the width direction of the object detected by the object detection unit.
The identification unit generates an array pattern indicating an array of objects detected by the object detection unit in one scan in the width direction of the detection area by the scanning wave by the scanning unit. For example, the identifying unit generates an array pattern indicating the arrangement order of the objects detected by the object detection unit in the width direction of the detection area and the arrangement order in the direction orthogonal to the width direction of the detection area. Further, the identification unit performs the identification of the object detected by the object detection unit between the scanning of the detection area by the scanning unit in the width direction of the detection area, using the generated array pattern.

The movement speed estimation unit, for the object identified by the identification unit, the movement speed of the object in the width direction of the detection area, the amount of change in the length of the object in the width direction of the detection area estimated by the length estimation unit. Estimate using. Then, the bicycle determination unit determines whether or not the object is a bicycle, using the movement speed in the width direction of the detection area estimated by the movement speed estimation unit.

In this way, the scanning unit scans the detection area in the width direction with exploration waves, so even if some exploration waves are not reflected by the bicycle (do not hit the bicycle frame, etc.), even if they escape to the opposite side. , It is possible to detect the reflected wave reflected by the bicycle to some extent. Further, the object can be identified between the scanning in the width direction of the detection area by the scanning unit by the scanning unit by a relatively simple process. Therefore, the processing load on the apparatus body can be suppressed. In addition, it is possible to ensure the accuracy of determining whether the detected object is a bicycle. Therefore, the detection accuracy of the bicycle located in the detection area can be improved.

Moreover, the tough, the length estimated by the length estimation section, an object exceeds a threshold length predetermined processed to identify between the scanning in the width direction of the detection area of exploration wave by the scanning unit It may be configured to be set in the object.

According to this structure, it is possible to further reduce the processing load for identifying the object between the scanning in the width direction of the detection area by the scanning wave by the scanning unit.

The bicycle determination unit may include a notification unit that determines whether or not the traveling position and the moving speed of the object determined to be a bicycle are appropriate, and gives a warning when the determination is not appropriate. ..

Further, it is preferable that the scanning unit scans the exploration wave in a range where the height of the detection area from the road surface is 250 mm to 350 mm. Since the height of the pedal shaft of a general bicycle is 280 mm to 300 mm, the chain cover is located in a range of 250 mm to 350 mm above the road surface. Therefore, it is possible to prevent the exploration wave applied to the detection area from passing through to the opposite side without being reflected by the bicycle (without hitting the bicycle frame or the like).

According to the present invention, it is possible to improve the detection accuracy of the bicycle located in the detection area.

It is a figure which shows the structure of the principal part of a bicycle detection apparatus. It is the schematic which shows the road where the pedestrian pedestrian zone and the bicycle pedestrian zone were divided, Figure 2 (A) is the groundplan which saw the pedestrian and the pedestrian lane, and Figure 2 (B) is from the upper part. It is the top view which looked at the road surface. It is a figure which shows the side surface of a general bicycle. It is a block diagram which shows the function structure of a control part. It is a figure explaining an identification process. It is a flow chart which shows measurement processing. It is a flowchart which shows a bicycle detection process. It is a flowchart which shows an identification process. It is a flowchart which shows a moving speed estimation process. It is a flowchart which shows a warning alert process.

Hereinafter, a bicycle detection device according to an embodiment of the present invention will be described.

FIG. 1 is a diagram showing a configuration of a main part of the bicycle detection device according to this example. The bicycle detection device 1 includes a control unit 2, a scanning unit 3, and a notification unit 4. The bicycle detection device 1 according to this example detects a bicycle located in the detection area. Further, the bicycle detection device 1 issues a warning notification to the user of the bicycle (the person who is riding the detected bicycle) who does not comply with the traffic rules. The bicycle detection device 1 complies with the traffic rules for bicycles traveling in a pedestrian-only lane (pedestrian lane), bicycles not traveling at a safe speed, and bicycles running in reverse. Judge as no bicycle.

The control unit 2 controls the operation of the main body of the bicycle detection device 1. In addition, although details will be described later, the control unit 2 has a configuration corresponding to the measurement unit, the object detection unit, the length estimation unit, the identification unit, the moving speed estimation unit, and the bicycle determination unit described in the present invention. Further, the control unit 2 executes the bicycle detection method according to the present invention. Further, the control unit 2 is a computer that executes the bicycle detection program according to the present invention.

The scanning unit 3 has a laser diode 3a (LD3a) and a photodiode 3b (PD3b). The scanning unit 3 scans the detection area shown in FIG. 2 with the laser light emitted from the LD 3a (corresponding to the search wave in the present invention). In FIG. 2, a pedestrian lane, a bicycle lane, and a road are divided into roads. FIG. 2(A) is a plan view as seen in the direction of passage of pedestrians and bicycles, and FIG. 2(B) is a plan view as seen from above the road surface. Further, in FIG. 2B, the hatched area is the detection area. The X-axis direction (passing direction of a pedestrian or a bicycle) shown in FIG. 2 is the width direction of the detection area referred to in the present invention, and the Y-axis direction (a pedestrian passage band, a bicycle passage band, and a roadway alignment direction). ) Is the width direction of the road, and the Z-axis direction is the height direction with respect to the road surface. The X axis, the Y axis, and the Z axis are axes orthogonal to each other.

The scanning unit 3 (including the LD 3a and PD 3b) is attached to the pole 10. As shown in FIG. 2, the pole 10 is installed on the roadside belt of the pedestrian traffic belt (the roadside belt opposite to the bicycle traffic belt). The scanning unit 3 may be attached to a structure other than the pole 10 or may be installed on the road.

The LD 3a is attached so that the height of the irradiated laser light from the road surface is in the range of 250 mm to 350 mm. Since the height of the pedal shaft of a general bicycle is 280 mm to 300 mm, the chain cover is positioned in the range of 250 mm to 350 mm above the road surface (see FIG. 3 ). That is, the LD 3a is attached to the pole 10 or the like so that the laser light is radiated at a height that hits the bicycle chain cover. As a result, the ratio of the laser light emitted to the detection area, which is not reflected by the bicycle (does not hit the bicycle frame or the like) and escapes to the opposite side, is suppressed.

The scanning unit 3 scans a detection area for detecting a bicycle with laser light emitted from the LD 3a. The scanning unit 3 scans the laser light emitted from the LD 3a substantially parallel to the XY plane. The scanning unit 3 changes the irradiation angle θ of the laser light with respect to the Y axis in the range of −A° to +A°. In this example, when the irradiation direction of the laser beam emitted from the LD 3a is parallel to the Y axis, the irradiation angle θ=0° will be described. The scanning range of the laser beam by the scanning unit 3 is 150° (A=75°) in this example. Further, the scanning unit 3 changes the irradiation angle θ of the laser light at intervals of the decomposition angle B° with respect to the Y axis when scanning the detection area. The decomposition angle B° is 0.125° in this example. That is, the scanning unit 3 irradiates 1201 laser lights having different irradiation angles θ of the laser light with respect to the Y axis in one scan (one cycle of scanning) of the detection area. Further, the time required for the scanning unit 3 to perform one scan of the detection area (one scanning cycle) is 50 msec in this example. The scanning unit 3 repeatedly scans the detection area at a cycle of 50 msec. Further, the scanning unit 3 changes the light receiving direction of the reflected light at the PD 3b according to the irradiation direction of the laser light emitted from the LD 3a.

The notification unit 4 has a speaker 4a and a guide display plate 4b. When the control unit 2 determines that the user of the bicycle needs to give a warning, the notification unit 4 notifies the user of the warning by voice using the speaker 4a and displays characters or the like using the guide display plate 4b. Warning is given. The speaker 4a and the guide display plate 4b may be attached to the pole 10 or may be attached to a road structure other than the pole 10.

Next, the functional configuration of the control unit 2 will be described. FIG. 4 is a block diagram showing the functional configuration of the control unit. The control unit 2 includes a measurement function unit 20, an object detection function unit 21, a length estimation function unit 22, an identification function unit 23, a moving speed estimation function unit 24, a bicycle determination function unit 25, and a warning notification determination. And a functional unit 26.

The measurement function unit 20 measures the time (flight time) from when the LD 3a irradiates the laser light to when the PD 3b receives the reflected light. The distance L from the LD 3a to the reflection point that reflects the emitted laser light is
L=c×t/2
Can be calculated by However, c is the speed of light and t is the measured flight time.

Note that the measurement function unit 20 determines that there is no reflection point if the PD 3b does not receive the reflected light even after the lapse of a predetermined measurement time after the LD 3a irradiates the laser light.

The object detection function unit 21 acquires the position of the reflection point (the position on the XY plane) for each irradiation angle θ of the laser light emitted from the LD 3a in one scan of the detection area. The position (x, y) of the reflection point is
x=L×sin θ=(c×t/2)×sin θ
y=L×cos θ=(c×t/2)×cos θ
Is. However, θ is an irradiation angle with respect to the Y axis of the laser light emitted from the LD 3a.

Further, the object detection function unit 21 detects an object (object located in the detection area) that reflects the laser light by grouping the reflection points of the laser light emitted from the LD 3a in object units. For example, the object detection function unit 21 sets the same two reflection points that are within a first distance (for example, 100 mm) in the X-axis direction and within a second distance (for example, 400 mm) in the Y-axis direction. Perform grouping as a group. The object detection function unit 21 detects a group of reflection points grouped in the same group as one object.

It should be noted that the object detection function unit 21 determines that the reflection point a and the reflection point b are within the first distance in the X-axis direction or within the second distance in the Y-axis direction even if the reflection point a and the reflection point b are not within the second distance. a and the reflection point c are within the first distance in the X-axis direction and within the second distance in the Y-axis direction, and the reflection point b and the reflection point c are the first distance in the X-axis direction. Within the range and within the second distance in the Y-axis direction, the reflection point a, the reflection point b, and the reflection point c are grouped as the same group.

The length estimation function unit 22 estimates the length (length in the X-axis direction) of each object detected by the object detection function unit 21. The length estimation function unit 22 estimates the distance between the reflection points at both ends of the object in the X-axis direction as the length of the object.

The identification function unit 23 sets an object whose length estimated by the length estimation function unit 22 exceeds a predetermined threshold length (700 mm in this example) as a processing target object that may be a bicycle. In other words, the identification function unit 23 determines that there is no possibility that the object whose length estimated by the length estimation function unit 22 does not exceed the threshold length is a bicycle, and does not set it as the processing target object. An object whose length estimated by the length estimating function unit 22 does not exceed the threshold length is a pedestrian or the like passing through the detection area. Further, the processing target object set by the identification function unit 23 is not only a bicycle running in the detection area, but also a pedestrian pushing the bicycle, a pedestrian holding a carryback, a pedestrian pushing the stroller, and a dolly. It includes pedestrians who press. The identification function unit 23 reduces the load on subsequent processing by setting the processing target object according to the length estimated by the length estimation function unit 22.

Further, in the identification function unit 23, in the two scans of the detection area performed by the scanning unit 3 continuously in time, the processing target object detected in one scan and the process detected in the other scan. One-to-one correspondence is made with the target object (the detected object is identified between scans).

Specifically, first, the identification function unit 23 acquires the position of the processing target object. The X coordinate indicating the position of the processing target object is a position that divides the distance between the reflection points at both ends of the processing target object in the X axis direction into two equal parts. The Y coordinate indicated by the processing target object is a position that bisects the distance between the reflection points at both ends of the processing target object in the Y-axis direction.

Next, the identification function unit 23 performs the numbering j indicating the arrangement order in the X-axis direction and the numbering k indicating the arrangement order in the Y-axis direction for the processing target objects detected in one scan, and the other Numbering j indicating the order of arrangement in the X-axis direction and numbering k indicating the order of arrangement in the Y-axis direction are also performed for the processing target objects detected by the scanning of. For example, it is assumed that the identification function unit 23 sets four objects obj6 to obj9 among the nine objects (obj1 to obj9) shown in FIG. 5 detected by scanning the detection area as the processing target objects. The objects obj1 to obj5 are objects whose length estimated by the length estimating function unit 22 does not exceed the threshold length.

In this case, the four processing target objects obj6 to obj9 are arranged in the order of obj9, obj8, obj7, and obj6 in the X-axis direction (direction from the bottom to the top in the drawing of FIG. 5). In addition, the four processing target objects obj6 to obj9 are arranged in the order of obj9, obj6, obj8, and obj7 in the Y-axis direction (direction from right to left on the paper surface in FIG. 5). Therefore, the numbering (j,k) for the four processing objects obj6 to obj9 is (4,2) for obj6, (3,4) for obj7, (2,3) for obj8, and (1,1) for obj9. )become. The identification function unit 23 corresponds one-to-one with the processing target objects whose numbering (j, k) in the X-axis direction and the numbering (j, k) in the Y-axis direction are the same in the two scans that are performed sequentially in time. Attach (identify).

If there is a processing target object that cannot be correlated, the identification function unit 23 determines that the identification has failed (the processing target object detected by these two scans is not correlated). The identification function unit 23 also determines that the identification has failed even when the number of processing target objects detected by two temporally continuous scans is different.

In this way, the identification function unit 23 identifies the processing target object detected by two temporally continuous scans in the array pattern of the processing target objects in the detection area (in the X-axis direction and the Y-axis direction). Numbering (j, k)) is used. Therefore, the identification function unit 23 can identify the object to be processed detected by two temporally continuous scans by a relatively simple process.

The moving speed estimation function unit 24 estimates the moving speed (moving speed) of the processing target object set by the identification function unit 23. The moving speed estimation function unit 24 estimates the moving speed in the X-axis direction. The moving speed estimation function unit 24 uses the detection result S in n times (n is an integer of 2 or more) of scanning of the detection area by the scanning unit 3 performed continuously in time, and uses the moving speed of the processing target object. To estimate. The detection result S is the coordinate (x) in the X-axis direction of the processing target object and the length (l) in the X-axis direction. In this example, n=4. Here, the detection result S(t) of the processing target object in the current scan, the detection result S(t-1) of the bicycle in the previous scan, and the detection result S(t-2 of the bicycle in the scan of the previous time). ) It will be described as the detection result S(t-3) of the bicycle in the scanning performed three times before.

The moving speed estimation function unit 24 detects the detection result S(t-3) and the detection result S(t-2), and the detection result S(t-2) and the detection result S(t-1). In all of the detection result S(t-1) and the detection result S(t), if the identification function unit 23 has not failed to identify the processing target object, the processing target object moves in the X-axis direction. Estimate the speed. In other words, the moving speed estimation function unit 24 detects the detection result S(t-2) and the detection result S(t-1) between the detection result S(t-3) and the detection result S(t-2). Between the detection result S(t-1) and the detection result S(t), if the identification function unit 23 fails to identify the processing target object, The moving speed of the object in the X-axis direction is not estimated.

When the identification function unit 23 has not failed to identify the processing target object in the immediately preceding three times, the moving speed estimation function unit 24 detects the processing target object every two scans of the temporally continuous detection area. , Calculate the moving speed during scanning. That is, the movement speed estimation function unit 24 uses the detection result S(t) of the bicycle in the current scan and the detection result S(t-1) of the bicycle in the previous scan to move between the first scans. The second moving speed between scans using the speed, the detection result S(t-1) of the bicycle in the scan one time before and the detection result S(t-2) of the bicycle in the scan two times before, and 2 Three of the third inter-scanning moving speeds are calculated using the detection result S(t-2) of the bicycle in the previous scan and the detection result S(t-3) of the bicycle in the previous scan. .. The moving speed during scanning is calculated by the following formula.
In the case of x>x′: moving speed during scanning=((x−x′)−(|l−1′/2))/(one scanning cycle)
In the case of x≦x′, moving speed during scanning=((x′−x)−(|l−l′|/2))/(period of one scanning)
However, x and x′ are the X-axis coordinates of the processing target object detected in each scan, and l and l′ are the lengths of the processing target object in the X axis direction estimated in the respective scans. .. x′,l′ is the previous detection result of the scan in which the detection result was x,l. The moving direction can be determined from the magnitude relationship between x and x'.

The moving speed estimation function unit 24 determines the intermediate value of the three calculated inter-scanning moving speeds (first inter-scanning moving speed, second inter-scanning moving speed, and third inter-scanning moving speed) in the current scanning. The temporary moving speed v of the object to be processed is set.

The moving speed estimation function unit 24 uses the average value of the first moving speed between scans, the second moving speed between scans, and the third moving speed between scans as a temporary moving speed of the processing target object in this scan. The configuration may be v.

Next, the moving speed estimation function unit 24 halves the difference (v−V′) between the temporary moving speed v of the processing target object calculated this time and the moving speed V′ of the processing target object calculated last time. Is calculated as the speed change amount α (α=(v−V′)/2). Then, the moving speed estimation function unit 24 estimates that the moving speed V of the processing target object in the current scanning is a speed obtained by adding the speed change amount α to the previously calculated moving speed V′ of the processing target object.

That is, the moving speed estimation function unit 24 calculates the moving speed V of the processing target object as
V=V′+α=(v+V′)/2
Presumed to be

However, an upper limit value is set for the speed change amount α, and when the speed change amount α exceeds the upper limit value, the speed change amount α=upper limit value. The upper limit value of the speed change amount α is, for example, 2 km/h. If the moving speed V of the processing target object has not been estimated last time, the moving speed estimation function unit 24 sets V′=0 and estimates the moving speed V of the current processing target object.

A general bicycle is made up of a frame and the spokes of the wheels to which the tires are attached are thin, so the exploratory waves emitted to the sides of the bicycle are not reflected by the bicycle (do not hit the bicycle frame, etc.). ), the length of the object in the width direction of the detection area estimated by the length estimation function unit 22 changes within a certain range every time the scanning unit 3 scans the detection area. There is something to do. On the other hand, a person pushing a bicycle, a person carrying a carryback, a person pushing a stroller, a person pushing a trolley, etc., run the length of the object in the width direction of the detection area estimated by the movement of the person's legs, etc. It changes more than a bicycle.

As described above, the moving speed estimation function unit 24 estimates the moving speed V of the processing target object by using the amount of change in the length of the processing target object in the X-axis direction. Therefore, the moving speed estimation function unit 24 can accurately estimate the moving speed V of the processing target object in the X-axis direction.

If the movement speed V estimated by the movement speed estimation function unit 24 for the processing target object exceeds the bicycle threshold speed (for example, 7 km/h), the bicycle determination functioning unit 25 determines that the processing target object is a bicycle. judge.

In addition, the warning notification determination function unit 26 issues a warning depending on whether the position on the XY plane, the moving speed, the traveling direction, etc. of the processing target object determined to be a bicycle by the bicycle determination function unit 25 are appropriate. The necessity of is judged. The position of the object to be processed on the XY plane is detected by the identification function unit 23. The moving speed and the traveling direction of the processing target object are estimated by the moving speed estimating function unit 24.

The operation of the bicycle detection device 1 according to this example will be described below. The bicycle detection device 1 performs the following measurement processing, bicycle detection processing, and warning notification processing.

FIG. 6 is a flowchart showing the measurement process. In this measurement processing, the scanning unit 3 scans the detection area with the laser light emitted from the LD 3a, and the measurement function unit 20 measures the flight time until the reflected light is received by the PD 3b for each irradiation angle θ of the laser light. Processing.

The scanning unit 3 sets the irradiation angle θ of the laser light emitted from the LD 3a to the initial angle (−A° in this example) (s1). The scanning unit 3 irradiates the laser light from the LD 3a (s2), receives the reflected light by the PD 3b, or waits until a predetermined set time elapses (s3, s4). When the measurement function unit 20 receives the reflected light at the PD 3b, the elapsed time from the irradiation of the laser light at s2 to the reception of the reflected light at the PD 3b is stored as the flight time (s5). In s5, the irradiation angle θ of the laser light at that time and the flight time are stored in association with each other. Further, the measurement function unit 20 sets the flight time corresponding to the irradiation angle θ of the laser light at that time to ∞ when the set time elapses without receiving the reflected light by the PD 3b.

The scanning unit 3 determines whether or not the irradiation angle θ of the laser light with respect to the Y axis is A° (s6), and if the irradiation angle θ with respect to the Y axis is not A°, the irradiation of the laser light with respect to the Y axis is performed. The angle θ is changed by the decomposition angle B° (0.125° in this example) (s7), and the process returns to s2.

If the scanning unit 3 determines in s6 that the irradiation angle θ of the laser light this time with respect to the Y axis is A°, the scanning unit 3 returns to s1.

In the bicycle detection device 1, the measurement function unit 20 generates measurement data in which the flight time t is associated with each irradiation angle θ of the laser light with respect to the Y axis by executing this measurement process. The bicycle detection device 1 performs one scan of the detection area by the laser light emitted from the LD 3a by executing the processes of s1 to s7. Further, the bicycle detection device 1 repeats the scanning of the detection area with the laser light by repeatedly performing the measurement processing shown in FIG.

FIG. 7 is a flowchart showing the bicycle detection process. The bicycle detection device 1 starts this bicycle detection processing when one scan of the detection area by the laser light emitted from the LD 3a is completed in the measurement processing shown in FIG.

The object detection function unit 21 uses the measurement data generated by the measurement process shown in FIG. 6 (measurement data generated by the current scanning of the detection area by the laser light emitted from the LD 3a) on the XY plane. The position (x, y) of the reflection point of the laser light is calculated (s11). The position (x, y) of the reflection point is, as described above,
x=L×sin θ=(c×t/2)×sin θ
y=L×cos θ=(c×t/2)×cos θ
Can be calculated by Here, θ is the irradiation angle of the laser light emitted from the LD 3a with respect to the Y axis, and t is the measured flight time. It should be noted that there is no reflection point for the irradiation angle θ for which the measured flight time is ∞.

The object detection function unit 21 detects the object reflecting the laser light by grouping the reflection points of the laser light on the XY plane in object units (s12).

The length estimating function unit 22 estimates the length in the X-axis direction for each object detected in s12 (s13).

The identification function unit 23 sets an object whose length in the X-axis direction estimated in s13 exceeds a predetermined threshold length (700 mm in this example) as a processing target object (s14). Further, the identification function unit 23 performs an identification process of associating the processing target object set in the current scanning of the detection area with the processing target object set in the previous scanning of the detection area in a one-to-one correspondence (s15).

FIG. 8 is a flowchart showing the identification processing in s15. The identification function unit 23 determines whether the number of processing target objects set in the current scanning of the detection area and the number of processing target objects set in the previous scanning of the detection area match (s31). .. When the identification function unit 23 determines in s31 that the numbers of processing target objects do not match, the identification function unit 23 determines that identification has failed (s32), and ends the present process.

When the identification function unit 23 determines in s31 that the numbers of the processing target objects match, the numbering j indicating the order of arrangement in the X axis direction and the Y axis direction of the processing target objects detected in the current scanning are determined. Numbering k indicating the arrangement order is performed, and numbering j indicating the arrangement order in the X-axis direction and numbering k indicating the arrangement order in the Y-axis direction are also performed for the processing target objects detected in the previous scan. Perform (s33). In s33, the numbering described with reference to FIG. 5 is performed.

The identification function unit 23 associates the processing target objects having the same numbering (j, k) in the X-axis direction and the Y-axis direction performed in s33 with one-to-one correspondence (s34). If there is a processing target object that cannot be associated (s35), the identification function unit 23 determines that the identification has failed in s32, and ends this processing. On the other hand, if there is no processing target object that cannot be associated (s35), the identification function unit 23 determines that the identification is successful (s36), and ends this processing.

Returning to FIG. 7, when the identification process of s15 is completed, the moving speed estimation process of estimating the moving speed of the processing target object set this time is performed (s16). FIG. 9 is a flowchart showing the moving speed estimation processing in s16. The moving speed estimation function unit 24 determines whether or not the identification of the processing target object has failed in the identification processing of s15 most recently n times (4 times in this example) (s41). The moving speed estimation function unit 24 determines that the moving speed cannot be estimated at least once when the identification of the processing target object has failed at least once in the identification processing of the last n times (s42), and ends this processing.

The moving speed estimation function unit 24 uses the detection result S in the scanning of the most recent n times when the identification of the processing object has not failed even once in the most recent n times of the identification processing, and uses the detection result S in the X-axis direction of the processing object. Estimate the speed of. First, the moving speed estimation function unit 24 calculates (n-1) (three in this example) moving speeds between scans by using the detection results S of temporally continuous scans (s43). The detection result S=(x,l) is the position (x) in the X-axis direction of the processing target object and the length (l) in the X-axis direction. The moving speed between scans is as described above.
In the case of x>x′: moving speed during scanning=((x−x′)−(|l−1′/2))/(one scanning cycle)
In the case of x≦x′, moving speed during scanning=((x′−x)−(|l−l′|/2))/(period of one scanning)
Calculate by However, x and x′ are the X-axis coordinates of the processing target object detected in each scan, and l and l′ are the lengths of the processing target object in the X axis direction estimated in the respective scans. .. x′,l′ is the previous detection result of the scan in which the detection result was x,l. The moving direction can be determined from the magnitude relationship between x and x'.

Next, the moving speed estimation function unit 24 calculates the (n-1) inter-scan moving speeds (in this example, the first inter-scan moving speed, the second inter-scan moving speed, and the third scan). The intermediate value of the three moving speeds) is set as the temporary moving speed v of the processing target object in the current scanning (s44).

The moving speed estimation function unit 24 calculates half of the difference (v−V′) between the temporary moving speed v of the processing target object calculated this time and the moving speed V′ of the processing target object calculated last time as the speed. A change amount α (α=(v−V′)/2) is calculated (s45). Then, the moving speed estimation function unit 24 estimates that the moving speed V of the processing target object in the current scanning is the speed obtained by adding the speed change amount α to the previously calculated moving speed V′ of the processing target object ( s46).

That is, the moving speed estimation function unit 24 calculates the moving speed V of the processing target object as
V=V′+α=(v+V′)/2
Presumed to be

However, an upper limit value is set for the speed change amount α, and when the speed change amount α exceeds the upper limit value, the speed change amount α=upper limit value. The upper limit value of the speed change amount α is, for example, 2 km/h. If the moving speed V of the processing target object has not been estimated last time, the moving speed estimation function unit 24 sets V′=0 and estimates the moving speed V of the current processing target object.

In the moving speed estimation process shown in FIG. 9, the moving speed V of the processing target object is estimated for each processing target object set this time.

Returning to FIG. 7, when the moving speed estimation processing in s16 is completed, the bicycle determination function unit 25 performs bicycle determination processing for determining whether or not the object is a bicycle for each processing target object set this time (s17), Return to s11. In s17, if the moving speed V estimated in s16 this time is equal to or higher than a predetermined speed (for example, 7 km/h) for each processing target object, it is determined to be a bicycle, and otherwise (moving speed in s16 this time). It is not determined that the bicycle is a bicycle (including the case where V is not estimated).

Next, the warning notification process will be described. FIG. 10 is a flowchart showing the warning notification process. The bicycle detection device 1 starts this warning notification process when the bicycle detection process shown in FIG. 7 is completed.

The warning notification determination function unit 26 determines whether or not there is a bicycle traveling in the pedestrian lane in the detection area (s51), and exceeds the predetermined warning speed (for example, 30 km/h) in the lane in the detection area. The presence/absence of a bicycle traveling in the same direction (s52) and the presence/absence of a bicycle traveling backward in the bicycle lane in the detection area (s53) are determined.

The determination in s53 is performed when the traveling direction of the bicycle is limited to one direction with respect to the bicycle lane in the detection area.

The warning notification determination function unit 26 has no bicycle traveling in the pedestrian traffic zone in the detection area, and no bicycle traveling in the bicycle traffic zone in the detection area at a speed exceeding a predetermined warning speed. If there is no bicycle running backward in the bicycle lane in the detection area, it is determined that warning notification is unnecessary (s54), and the process returns to s51.

On the other hand, the warning notification determination function unit 26 includes a bicycle traveling in the pedestrian traffic zone in the detection area, a bicycle traveling in the bicycle traffic zone in the detection area at a speed exceeding a predetermined warning speed, and the detection area. If there is at least one bicycle running backward in the bicycle lane, it is determined that a warning is required (s55), and the process returns to s51.

When it is determined in s55 that the warning notification is necessary, the bicycle detection device 1 causes the notification unit 4 to notify the warning. This allows the bicycle user to comply with the traffic rules.

Although the detection area is scanned with the laser light emitted from the LD 3a in the above example, the detection area may be scanned with another electromagnetic wave such as a millimeter wave.

DESCRIPTION OF SYMBOLS 1... Bicycle detection device 2... Control part 3... Scanning part 3a... Laser diode (LD)
3b... Photodiode (PD)
4... Notification unit 4a... Speaker 4b... Guide display plate 20... Measurement function unit 21... Object detection function unit 22... Estimation function unit 23... Identification function unit 24... Moving speed estimation function unit 25... Bicycle determination function unit 26... Warning notification Judgment function section

Claims (8)

A scanning unit that scans the detection area with the exploration wave in the width direction and detects the reflected wave,
After the scanning unit irradiates the exploration wave, a measuring unit that measures the flight time until the reflected wave is detected,
By using the irradiation direction of the exploration wave by the scanning unit and the flight time measured by the measurement unit, the position of the reflection point that has reflected the exploration wave is acquired, and the object located in the detection area is detected. An object detector,
For the object detected by the object detection unit, a length estimation unit that estimates the length of the detection area in the width direction,
In one scan in the width direction of the detection area by the scanning wave by the scanning unit, an array pattern showing an array of objects detected by the object detection unit is generated, and the width of the detection area by the scanning unit by the scanning unit. Between the scanning of the direction, the identification unit that performs the identification of the object detected by the object detection unit using the array pattern,
For the object identified by the identification unit, the moving speed of the object in the width direction of the detection area is calculated using the amount of change in the length of the object in the width direction of the detection area estimated by the length estimation unit. And a moving speed estimation unit that estimates
A bicycle determination unit that determines whether or not the object detected by the object detection unit is a bicycle by using the movement speed in the width direction of the detection area estimated by the movement speed estimation unit. Bicycle detection device. The identifying unit generates the array pattern indicating the arrangement order of the objects detected by the object detection unit in the width direction of the detection area and the arrangement order in a direction orthogonal to the width direction of the detection area. The bicycle detection device according to 1. The identifying unit identifies an object whose length estimated by the length estimating unit exceeds a predetermined threshold length between scans of the detection area in the width direction of the detection area by the scanning unit. The bicycle detection device according to claim 1, which is set as a target object. The bicycle determination unit includes a notification unit that determines whether or not the traveling position and the moving speed of the object determined to be a bicycle are appropriate, and gives a warning when the determination is not appropriate. The bicycle detection device according to any one of Items 1 to 3. The bicycle detection device according to any one of claims 1 to 4, wherein the scanning unit scans the exploration wave in a range in which the height of the detection area from the road surface is 250 mm to 350 mm. The identifying unit identifies the object detected by the object detecting unit in the current scan and the object detected by the object detecting unit in the previous scan for each scanning in the width direction of the detection area with the exploration wave. Done,
The moving speed estimation unit performs the estimation of the moving speed of the object when the identification of the latest set number of objects by the identification unit is all successful, and the identification of the latest set number of objects by the identification unit is performed. The bicycle detection device according to any one of claims 1 to 5, which is not performed even if it is not successful even once. A measurement step of measuring the flight time from the irradiation of the exploration wave by the scanning unit that detects the reflected wave by scanning in the width direction of the detection area with the exploration wave, until the reflected wave is detected,
The irradiation direction of the exploration wave by the scanning unit and the flight time measured in the measuring step are used to obtain the position of the reflection point in the detection area that reflects the exploration wave, and the position within the detection area is obtained. An object detection step of detecting an object to be
For the object detected in the object detection step, a length estimation step of estimating the length in the width direction of the detection area,
In one scan in the width direction of the detection area by the scanning wave by the scanning unit, an array pattern indicating an array of objects detected in the object detection step is generated, and the width of the detection area by the scanning unit by the scanning unit. An identification step of performing the identification of the object detected in the object detection step between the scanning in the directions using the array pattern,
For the object identified in the identifying step, the moving speed of the object in the width direction of the detection area is calculated by using the amount of change in the length of the object in the width direction of the detection area estimated by the length estimating step. Moving speed estimation step
A bicycle detection method comprising: a bicycle determination step of determining whether or not the object is a bicycle using the movement speed in the width direction of the detection area estimated in the movement speed estimation step. A measurement step of measuring the flight time from the irradiation of the exploration wave by the scanning unit that detects the reflected wave by scanning in the width direction of the detection area with the exploration wave, until the reflected wave is detected,
The irradiation direction of the exploration wave by the scanning unit and the flight time measured in the measuring step are used to obtain the position of the reflection point in the detection area that reflects the exploration wave, and the position within the detection area is obtained. An object detection step of detecting an object to be
For the object detected in the object detection step, a length estimation step of estimating the length in the width direction of the detection area,
In one scan in the width direction of the detection area by the scanning wave by the scanning unit, an array pattern indicating an array of objects detected in the object detection step is generated, and the width of the detection area by the scanning unit by the scanning unit. An identification step of performing the identification of the object detected in the object detection step between the scanning in the directions using the array pattern,
For the object identified in the identifying step, the moving speed of the object in the width direction of the detection area is calculated by using the amount of change in the length of the object in the width direction of the detection area estimated by the length estimating step. Moving speed estimation step
A bicycle detection program that causes a computer to execute a bicycle determination step of determining whether or not the object is a bicycle using the movement speed in the width direction of the detection area estimated in the movement speed estimation step.

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