WO2020189475A1 - 移動体監視システム、移動体監視システムの制御サーバ、及び移動体監視方法 - Google Patents
移動体監視システム、移動体監視システムの制御サーバ、及び移動体監視方法 Download PDFInfo
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- WO2020189475A1 WO2020189475A1 PCT/JP2020/010714 JP2020010714W WO2020189475A1 WO 2020189475 A1 WO2020189475 A1 WO 2020189475A1 JP 2020010714 W JP2020010714 W JP 2020010714W WO 2020189475 A1 WO2020189475 A1 WO 2020189475A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
- G08G1/083—Controlling the allocation of time between phases of a cycle
Definitions
- the present disclosure relates to a moving body monitoring system, a control server of the moving body monitoring system, and a moving body monitoring method.
- Patent Document 1 discloses a system for investigating the traffic volume, congestion, etc. of vehicles at intersections.
- the system uses a laser radar installed at an intersection to detect moving objects, determine which vehicles enter and exit the intersection, and measure traffic flow through the intersection.
- Patent Document 1 cannot detect the direction of a vehicle traveling on a traveling road, the direction of a vehicle entering an intersection, and the direction of a vehicle exiting an intersection with high accuracy. That is, there is a problem that it is not possible to obtain information such as from which lane of the road connecting to the intersection to enter the intersection or from which direction the lane is congested.
- An object of the present disclosure is to provide a moving body monitoring system capable of monitoring a moving body traveling on a traveling path with high accuracy, a control server for the moving body monitoring system, and a moving body monitoring method.
- the moving body monitoring system is a moving body monitoring system that monitors a moving body traveling on a traveling path, irradiates a predetermined area set on the traveling path with a laser, and performs the predetermined period at predetermined intervals.
- a laser radar that detects a reflected signal of the laser by an object in the region
- a moving body detection unit that detects a moving body existing in the predetermined region based on the reflected signal detected by the laser radar, and the above.
- a plurality of divided regions are set in a predetermined region, and the moving direction of the moving body is based on the presence or absence of the moving body in each of the divided regions detected by the moving body detection unit at each predetermined cycle.
- data including a moving direction detecting unit for detecting, the number of moving bodies in each divided region detected by the moving body detecting unit, and the moving direction of each moving body detected by the moving direction detecting unit. It is characterized by having a traffic flow calculation unit that calculates a certain traffic flow data.
- the control server is a control server of a moving body monitoring system that monitors a moving body traveling on a traveling path, irradiates a predetermined area set on the traveling path with a laser, and performs the above-mentioned at predetermined intervals.
- a moving body detection unit that detects a moving body existing in the predetermined area based on the reflected signal detected by the laser radar that detects the reflected signal of the laser by an object in the predetermined area, and a moving body detecting unit in the predetermined area.
- a plurality of divided regions are set in the above, and a movement for detecting the moving direction of the moving body based on the presence or absence of the moving body in each of the divided regions detected by the moving body detection unit at each predetermined cycle.
- Traffic flow data that includes the direction detection unit, the number of moving bodies in each divided region detected by the moving body detection unit, and the moving direction of each moving body detected by the moving direction detection unit. It is characterized by having a traffic flow calculation unit for calculating.
- the moving body monitoring method is a moving body monitoring method for monitoring a moving body traveling on a traveling path by irradiating a predetermined area set on the traveling path with a laser and performing the predetermined period at predetermined intervals.
- a step of detecting the reflected signal of the laser by an object in the predetermined region a step of detecting a moving body existing in the predetermined region based on the detected reflected signal, and a plurality of divisions within the predetermined region.
- FIG. 1 is a block diagram showing a configuration of a mobile body monitoring system according to the disclosure of the present invention.
- FIG. 2A is a plan view showing a laser radar installed on a facing passage and a detection area thereof.
- FIG. 2B is a bird's-eye view showing a laser radar installed on a two-way passage and a detection area thereof.
- FIG. 3A is a plan view showing a laser radar installed at an intersection and a detection area thereof.
- FIG. 3B is a bird's-eye view showing a laser radar installed at an intersection and its detection area.
- FIG. 4 is an explanatory diagram showing a first example of traffic flow data stored in the database.
- FIG. 5 is an explanatory diagram showing a second example of traffic flow data stored in the database.
- FIG. 6 is a flowchart showing a processing procedure of the mobile body monitoring system according to the first embodiment.
- FIG. 7 is a flowchart showing a detailed procedure of the calculation and recording process of the traffic flow data shown in S15 of FIG.
- FIG. 8 is a flowchart showing a detailed procedure of the traffic flow data deletion process shown in S16 of FIG.
- FIG. 9 is a flowchart showing a processing procedure of the mobile body monitoring system according to the second embodiment.
- FIG. 10A is an explanatory diagram showing an intersection where the traffic flow is monitored by the moving body monitoring system according to the second embodiment.
- FIG. 10B is an explanatory diagram showing a plurality of divided regions set in the area of the intersection shown in FIG. 10A.
- FIG. 11 is an explanatory diagram showing the ratio of vehicles present in the divided region shown in FIG. 10B.
- FIG. 1 is a block diagram showing a configuration of a mobile body monitoring system according to the first embodiment.
- the moving body monitoring system 101 monitors information on various moving bodies such as the number of moving bodies traveling on a traveling path, a moving direction, and a moving speed.
- the moving body monitoring system 101 includes a laser radar 1 installed on a traveling path on which a moving body travels, a control device 2 (control server) connected to the laser radar 1, and a management server 3 connected to the control device 2. , Is equipped.
- the "moving body” described in the present disclosure is a concept including a vehicle (automobile or motorcycle), a bicycle, and a pedestrian.
- the "running road” is a concept that includes roads through which moving objects pass and intersections such as crossroads, junctions, and three-way junctions.
- the laser radar 1 irradiates a laser toward a predetermined region set on the traveling path, detects the reflected signal of the laser by an object existing in the predetermined region at a predetermined cycle, and further clusters the three-dimensional points. Get group information. Further, the laser radar 1 outputs the acquired three-dimensional point cloud information (reflection signal) to the control device 2 as sensor data. Based on the sensor data detected by the laser radar 1, the size and shape of the detected object can be detected. Therefore, as will be described later, the type of the moving body traveling on the traveling path or the moving object stopped on the traveling path, that is, the type of the vehicle, the bicycle, the pedestrian, etc. is determined based on the sensor data. Can be done.
- the mounting position of the laser radar 1 is relatively low compared to the method of capturing and detecting the moving body with a camera such as a visible camera or an infrared camera. It has the advantage that it can be installed in a position. In the method of installing a visible camera or an infrared camera on the traveling path to detect a moving body, it is necessary to install the camera at a relatively high position to take a bird's-eye view of the traveling path. On the other hand, the laser radar 1 does not need to be mounted at a high position.
- a vehicle will be described as an example of a moving body.
- 2A, 2B, 3A, and 3B are explanatory views showing the installation location of the laser radar 1 and the detection range by the laser radar 1.
- FIG. 2A and 2B show an example in which a laser radar 1 is installed on a facing road 51 having one lane on each side to monitor a vehicle
- FIG. 2A shows a plan view
- FIG. 2B shows a bird's-eye view
- the detection region K1 can be set in the facing traveling path 51 by one laser radar 1 installed on the side of the facing traveling path 51.
- four divided regions n1, n2, s1 and s2 are set in each lane of the facing traveling path 51, and a moving body is detected in each divided region.
- the divided area is not limited to four, and may be a plurality of divided areas.
- FIG. 3A and 3B show an example in which a laser radar 1 is installed at an intersection (four-forked road) to monitor a vehicle
- FIG. 3A shows a plan view
- FIG. 3B shows a schematic bird's-eye view
- the detection region K2 can be set at the intersection 52 by one laser radar 1 installed on the side of the intersection 52.
- FIG. 3B a total of eight division areas n1, n2, w1, w2, s1, s2, e1, and e2 are set at the four intersection approach portions of each runway at the intersection 52, and each division is performed. Detect vehicles in the area. Details will be described later.
- the control device 2 includes a sensor data acquisition unit 21, a sensor data processing unit 22, a vehicle detection unit 23, a vehicle tracking unit 24, a traffic flow calculation unit 25, a database 26, and a communication unit. 27, is provided.
- the control device 2 is connected to the laser radar 1 by wire or wirelessly.
- the control device 2 can be installed in a base station that comprehensively manages the traffic volume, and can be connected to the laser radar 1 via a wired, wireless, or network.
- the control device 2 may be provided near the side portion of the laser radar 1.
- the control device 2 can be configured as an integrated computer including a central processing unit (CPU) and storage means such as a RAM, a ROM, and a hard disk.
- CPU central processing unit
- storage means such as a RAM, a ROM, and a hard disk.
- the sensor data acquisition unit 21 acquires three-dimensional point cloud data (sensor data) output from the laser radar 1.
- the sensor data processing unit 22 performs processing for reducing unnecessary data from the sensor data acquired by the sensor data acquisition unit 21.
- the vehicle detection unit 23 detects a moving body existing in a predetermined area based on the sensor data (reflection signal) output from the sensor data processing unit 22. Further, the vehicle detection unit 23 measures the size and shape of each moving body based on the sensor data, and determines the type of the moving body based on the measurement result. Specifically, when the lateral length of the sensor data detected by the laser radar 1 is equal to or longer than a preset constant length (for example, 2 m), it is determined that the moving body is a vehicle. Further, when the lateral length is longer than the above-mentioned vehicle, it is determined that the vehicle is a large vehicle (truck or the like). Furthermore, motorcycles and pedestrians can be determined. It is also possible to determine the type of the moving body by detecting at least one of the size and shape of the moving body.
- the vehicle tracking unit 24 assigns a vehicle ID for identifying each vehicle to the vehicle detected by the vehicle detection unit 23. Then, by tracking the movement of each vehicle on the image, the moving direction and moving speed of the vehicle are detected based on the vehicle ID of each vehicle. For example, when the four divided regions n1, n2, s1 and s2 shown in FIG. 2B are set and the vehicle is detected in the divided region s1 and then detected in the divided region n1, this vehicle is shown in FIG. 2B. It is determined that the vehicle moves in the direction of the arrow Y1 shown (the length (road extension direction) of the divided region is, for example, 1 m. The same applies to the divided region of FIG. 3).
- the moving speed of the vehicle can be detected based on the relationship between the amount of change in the position of the vehicle based on the sensor data in each frame by the laser radar 1 and the passage of time.
- the vehicle tracking unit 24 sets a plurality of divided regions in a predetermined region, and moves the vehicle based on the presence or absence of the vehicle in each divided region detected by the vehicle detection unit 23 at predetermined cycles. It has a function as a moving direction detection unit that detects the direction.
- the vehicle tracking unit 24 detects at different timings based on at least one of the size and shape of each vehicle detected by the vehicle detection unit 23 at different timings (in other words, different times) in a predetermined cycle. It has a function of determining the identity of the vehicles to be used and detecting the moving direction of the vehicles that are determined to be the same.
- the vehicle tracking unit 24 detects the speed of each vehicle based on the position of each vehicle detected by the vehicle detection unit 23 at different timings of a predetermined cycle. The detected speed is output to the traffic flow calculation unit 25.
- the traffic flow calculation unit 25 creates traffic flow data indicating the movement status of the vehicle detected by the vehicle detection unit 23 and given the vehicle ID. For example, when the detection area K1 is set in the facing travel path 51 as shown in FIG. 2B, the vehicle ID of the vehicle traveling in the detection area K1, the vehicle type (ordinary vehicle, large vehicle, etc.), and traveling Traffic flow data including each information of the time, the first detected division area, the last detected division area, the traveling direction of the vehicle, and the traveling speed of the vehicle is created.
- the traffic flow calculation unit 25 calculates the traffic flow data which is the data including the number of vehicles in each divided region detected by the vehicle detection unit 23 and the moving direction of the vehicles in a predetermined time or a unit time. It has a function.
- the traffic flow calculation unit 25 detects the number of vehicles existing in each divided region within a predetermined time by the vehicle detection unit 23, and indicates the density of vehicles existing in each divided region within a predetermined time. Create a density map. The details of the density map will be described later.
- the database 26 stores and stores the traffic flow data output from the traffic flow calculation unit 25.
- FIG. 4 is an explanatory diagram showing an example of traffic flow data.
- the traffic flow data includes the time when the vehicle traveled (for example, 12:34:01), the vehicle ID (for example, 000100), and the area where the vehicle was first detected (for example, s1). ), The last detected area (for example, n1), and the type of vehicle (for example, ordinary vehicle).
- the speed of each vehicle is omitted.
- FIG. 5 is an explanatory diagram showing the number of passing vehicles in each time zone, and data showing the course (for example, s1 ⁇ n1), the number of passing ordinary vehicles, and the number of passing large vehicles is stored.
- the above traffic flow data stored in the database 26 is deleted after a predetermined storage period has elapsed.
- the data storage period can be set to any period such as one week, one month, or one year.
- the traffic flow data for the latest fixed period (the above storage period) is stored in the database 26.
- the traffic flow calculation unit 25 stores the traffic flow data in the database 26, and deletes the traffic flow data stored in the database 26 when a certain period of time elapses. Further, the traffic flow calculation unit 25 deletes the traffic flow data when the traffic flow data stored in the database 26 is transmitted to the management server 3 via the communication unit 27.
- traffic flow data may not be deleted automatically, but may be deleted by an operation by an operator such as the device administrator.
- the communication unit 27 can communicate with the management server 3, reads the traffic flow data stored in the database 26 in response to the search request from the management server 3, and manages the server. Send to 3. For example, when a request for outputting traffic light lighting data for determining the lighting time of a traffic light provided at a predetermined intersection occurs as a search request from the management server 3, the traffic flow data calculated by the traffic flow calculation unit 25 ( The lighting time of the traffic light is calculated based on the density map described later), and the traffic light lighting data indicating the calculated lighting time is transmitted to the management server 3. Details will be described later.
- the management server 3 is connected to the control device 2 by wireless, wired, or network. Therefore, the installation position of the management server 3 can be arbitrarily determined. Of course, it can also be installed in the vicinity of the control device 2.
- the sensor data acquisition unit 21 acquires three-dimensional point cloud information (sensor data) detected in a desired detection region by the laser radar 1. For example, as shown in FIGS. 2A and 2B, when the laser radar 1 is provided on the side of the facing traveling path 51, the sensor data obtained from the moving body existing in the detection area K1 is acquired. .. Further, as shown in FIGS. 3A and 3B, when the laser radar 1 is provided on the side of the intersection 52, the sensor data obtained from the moving body existing in the detection area K2 is acquired.
- the sensor data processing unit 22 deletes the sensor data detected on a road other than the travel path (other than on the road) from the sensor data acquired by the sensor data acquisition unit 21.
- the traveling road Delete the sensor data detected in the area other than In the example shown in FIGS. 3A and 3B, the sensor data detected in the region outside the eight regions shown in FIG. 3B is deleted (that is, the data in the region not included in the region K2 is deleted. The data in the intersection included in K2 is not deleted.) By this process, data that is not necessary for vehicle monitoring can be deleted, so that the amount of data can be reduced.
- the vehicle detection unit 23 specifies the type of the moving body detected by the laser radar 1. For example, a type such as an ordinary vehicle or a large vehicle is specified.
- step S14 the vehicle tracking unit 24 assigns a vehicle ID for identifying each vehicle to the vehicle detected by the vehicle detection unit 23 (for example, the coordinate values on the frame and the ID are stored in association with each other. ). Then, the same vehicle is identified in different frames (detection data at different times) by tracking on the image.
- the period of the frame is, for example, about several ⁇ s to several m seconds.
- step S15 the traffic flow calculation unit 25 measures and records the traffic flow data.
- the traffic flow calculation unit 25 measures and records the traffic flow data.
- step S31 shown in FIG. 7 the traffic flow calculation unit 25 selects one frame and acquires each data of the ID, type, size, speed, and area where the vehicle exists in this frame. ..
- step S32 Whether or not the vehicle detected by the vehicle detection unit 23 (referred to as vehicle V1) in step S32 is detected for the first time in any of the divided regions set in the detection region K1. to decide.
- the divided regions are the divided regions n1, n2, s1, and s2 shown in FIG. 2B.
- the vehicle V1 is detected for the first time by the laser radar 1 when entering the divided region s1. If it is detected for the first time (S32; YES), the process proceeds to step S33, and if it is not the first time (S32; NO), the process proceeds to step S34.
- step S33 the traffic flow calculation unit 25 traffic through the time when the vehicle V1 is detected, the ID and type of the vehicle V1, and the divided region where the vehicle V1 is detected, that is, the divided regions such as s1 and n2 shown in FIG. 2B. Record as flow data.
- step S34 the traffic flow calculation unit 25 determines whether or not the vehicle V1 is detected in a division area different from the previously detected division area (for example, s1) (in the previous frame). For example, when the vehicle V1 is moving in the direction of the arrow Y1 shown in FIG. 2B, the vehicle V1 moves from the divided region s1 to n1. In this case, it is determined that the detection was performed in a divided area different from the previous one.
- a division area different from the previously detected division area for example, s1
- the vehicle V1 moves from the divided region s1 to n1. In this case, it is determined that the detection was performed in a divided area different from the previous one.
- step S35 the traffic flow calculation unit 25 calculates the movement information of the vehicle V1 and records it in the traffic flow data. For example, when the vehicle V1 is detected in the divided region s1 shown in FIG. 2B and then detected in the divided region n1, it is determined that the vehicle V1 is moving in the direction of the arrow Y1 shown in FIG. 2B. This movement information is recorded in the traffic flow data. After that, the traffic flow data is recorded in the database 26, the process returns to step S31, the next frame of the frame is selected, and the same processing as described above is executed. Then, the above processing is performed on each vehicle (all vehicles) included in each frame detected by the laser radar 1, and this processing is terminated when a predetermined time elapses.
- step S16 the traffic flow calculation unit 25 executes a process of deleting the traffic flow data from the database 26.
- the details of this process will be described with reference to the flowchart shown in FIG.
- step S51 the traffic flow calculation unit 25 determines whether or not a preset threshold time has elapsed since the vehicle V1 was last detected in any of the divided regions shown in FIG. 2B. For example, the vehicle V1 is detected in the divided region s1, then detected in the divided region n1, and then the vehicle V1 is detected in all the divided regions s1, s2, n1, n2, that is, in the detection region K1. When it disappears, the time when it is no longer detected is stored, and the time counting is started from this point to determine whether or not the threshold time has elapsed.
- step S52 the traffic flow calculation unit 25 determines that the vehicle V1 has gone out of the detection area K1.
- step S53 the traffic flow calculation unit 25 determines whether or not the determination for all vehicles has been completed, and if so (S53; YES), the traffic flow calculation unit 25 detects in step S54.
- the traffic flow data for the vehicle determined to have gone out of the area K1 is deleted from the database 26. That is, the amount of data in the database 26 is reduced by deleting the traffic flow data for the vehicle that no longer needs to be detected. After that, this process ends.
- step S17 the communication unit 27 determines whether or not the current time is the transmission cycle of the traffic flow data.
- step S18 the communication unit 27 transmits the traffic flow data stored in the database 26 to the management server 3. Therefore, the traffic flow data can be acquired on the management server 3.
- the management server 3 for example, as shown in FIG. 4, in the detection area K1 shown in FIG. 2B, the time when the vehicle entered the detection area K1, the ID for identifying the vehicle, the divided area in which the vehicle first entered, Information indicating the last entered division area and the type of vehicle is provided to the operator of the management server 3. Further, as shown in FIG. 5, data indicating the number of passing vehicles, the traveling direction of the vehicles, and the type of the vehicle in a predetermined time zone is provided to the operator of the management server 3.
- step S19 the traffic flow calculation unit 25 deletes the traffic flow data transmitted to the management server 3 from the database 26. After that, this process ends.
- the laser radar 1 is used to set a desired detection region (K1 in the examples of FIGS. 2A and 2B, K2 in the example of FIG. 3A, and K2 in the example of FIG. 3B).
- the vehicle is detected in a plurality of divided regions (for example, s1, s2, n1, n2 shown in FIG. 2B). Therefore, it is possible not only to detect the vehicle passing through the detection area K1 but also to detect detailed data such as the traveling direction, speed, type, and stopped vehicle of the vehicle to create traffic flow data. ..
- the operator of the management server 3 can recognize the traffic flow data within the desired detection area by the laser radar 1.
- the type and number of vehicles traveling in an arbitrary time zone for example, the time zone from 7:00 am to 8:00 am
- the labor cost can be reduced, the measurement period can be shortened, and the measurement accuracy can be improved.
- the moving body is measured by using the laser radar 1, the flexibility of the installation position can be improved as compared with the case of taking an image with a camera, for example. That is, when an image of a moving body traveling on a traveling path is taken by a camera, it is necessary to install the camera at a position (relatively high position) where the traveling path can be overlooked, but in the present disclosure, the moving body is moved by using the laser radar 1. Since the body is detected, the installation position of the laser radar 1 can be lowered, and the restriction on the installation position is relaxed.
- the laser radar 1 has a wide detection area, it is possible to detect a moving body with only one laser radar 1, and further, it is not easily restricted by the road shape of the traveling path to be monitored.
- the laser radar 1 is not easily affected by the surrounding environment such as rainy weather, backlight, nighttime, and inside a tunnel, it is possible to stably acquire traffic flow data and there are no restrictions on the installation location.
- FIGS. 2A and 2B an example in which the detection region K1 is set in the facing traveling path 51 and the traffic flow of the facing traveling path 51 is measured has been described, but as shown in FIGS. 3A and 3B.
- the vehicle coming from which direction can be determined by detecting the divided area that the vehicle passes through when entering the intersection and the divided area that passes when the vehicle exits the intersection. It is possible to detect from which direction the vehicle is leaving.
- the vehicle detected in the divided area w1 shown in FIG. 3B is subsequently detected in the divided area n1, the vehicle enters the intersection from the divided area w1 side and then turns left to make the divided area n1. It can be judged that it has gone out to the side. Then, such traffic flow data can be created and provided to the operator of the management server 3. Therefore, the operator can recognize the route and the number of vehicles entering the intersection and the route and the number of vehicles exiting the intersection, which is useful for setting the time of the traffic light (red lighting time, green lighting time), for example. be able to.
- the time of the traffic light red lighting time, green lighting time
- step S71 the traffic flow calculation unit 25 acquires the vehicle ID, type, size, speed, and existing position.
- step S72 the traffic flow calculation unit 25 stores each data acquired in the process of S71 in the database 26.
- step S73 the traffic flow calculation unit 25 deletes the data stored in the database 26 for which a predetermined time has passed since the data was stored. That is, since the data that has passed the predetermined time or more becomes unnecessary, the amount of data in the database 26 is reduced by deleting the data.
- step S74 the traffic flow calculation unit 25 sets a divided region having a certain area in the detection region for detecting the vehicle.
- a method of setting the divided region will be described with reference to FIGS. 10A and 10B.
- the detection area of the vehicle is an intersection Q1 as shown in FIG. 10A
- a plurality of rectangular division areas are set at this intersection Q1.
- rectangular division regions R13 to R75 are set inside the intersection Q1 and at appropriate positions on the travel path connected to the intersection Q1.
- the divided area is not set in the area deviating from the traveling path.
- FIGS. 10A and 10B correspond to each other, and the nine division regions R33 to R55 shown in FIG. 10B correspond to the inside of the intersection Q1 shown in FIG. 10A.
- step S75 the traffic flow calculation unit 25 measures the time during which the vehicle has existed for each divided region within a predetermined time set in advance. For example, a predetermined time is set to 1 minute, and the time during which the vehicle is present in each divided region is measured in this 1 minute.
- step S76 the traffic flow calculation unit 25 calculates the ratio of the time that the vehicle exists for each divided area. For example, if the vehicle is present for only 6 seconds out of 1 minute in an arbitrary division area, the ratio is 10%.
- the above ratio is calculated in each divided region shown in FIG. 10B, and a density map showing the ratio is created. Specifically, as shown in FIG. 11, a density map in which the ratio is entered for each divided region is created.
- step S77 the traffic flow calculation unit 25 stores the density map in which the ratio data is described in the database 26.
- step S18 of FIG. 6 the above density map is transmitted to the management server 3.
- the operator of the management server 3 can recognize the area where the vehicle is congested or the area where the vehicle frequently travels at the intersection Q1 by looking at the density map.
- the communication unit 27 calculates an appropriate lighting time of the traffic light provided at the intersection Q1 based on the above density map, and transmits the traffic light lighting data indicating the calculated lighting time to the management server 3. May be good. That is, the density map described above makes it possible to recognize in which area within the intersection the vehicle is congested. Therefore, since it is possible to recognize which lane at the intersection Q1 is congested, the traffic light lighting data including information such as setting a long lighting time of the green light of the traffic light corresponding to this lane is transmitted to the management server 3.
- the management server 3 controls the lighting time of the traffic light, and can set the lighting time of the green light and the red light to an appropriate time.
- a plurality of divided regions are set in the intersection Q1 and the traveling path around the intersection, and a density map showing the ratio of the time when the vehicle exists in each divided region is created. .. Therefore, the operator can recognize the congestion situation in the intersection Q1 by looking at this density map. Therefore, for example, when the presence ratio of vehicles is large in a specific travel path region, it can be recognized that many vehicles traveling on this travel path are waiting for a signal at an intersection. Therefore, it is possible to easily recognize measures such as setting a long lighting time of the green light of the traffic light in the traveling direction of the traveling path. That is, it can be used as data when setting the lighting time of the green light and the lighting time of the red light in the traffic light.
- the congestion state of each divided area in the morning commuting time zone and the congestion state of each divided area in the daytime time zone are used for each time zone. It is also possible to control the lighting time of the green light and the lighting time of the red light to be changed in real time. Therefore, it can contribute to alleviating traffic congestion of vehicles at intersections.
- the processing circuit includes a programmed processing device such as a processing device including an electric circuit.
- Processing devices also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.
- ASICs application specific integrated circuits
- Laser radar Control device 3 Management server 21 Sensor data acquisition unit 22 Sensor data processing unit 23 Vehicle detection unit (moving object detection unit) 24 Vehicle tracking unit 25 Traffic flow calculation unit 26 Database 27 Communication unit 51 Face-to-face driving path 52 Intersection 101 Moving object monitoring system
Abstract
Description
[第1実施形態の説明]
図1は、第1実施形態に係る移動体監視システムの構成を示すブロック図である。図1に示すように、本開示に係る移動体監視システム101は、走行路を走行する移動体の数、移動方向、移動速度などの各種の移動体に関する情報を監視するものである。移動体監視システム101は、移動体が走行する走行路に設置されるレーザレーダ1と、レーザレーダ1に接続される制御装置2(制御サーバ)と、制御装置2に接続される管理サーバ3と、を備えている。なお、本開示で説明する「移動体」とは、車両(自動車やオートバイ)、自転車、歩行者を含む概念である。また「走行路」とは、移動体が通過する道路や、十字路、丁字路、三叉路などの交差点を含む概念である。
次に、上述のように構成された第1実施形態に係る移動体監視システム101の処理手順を、図6~図8に示すフローチャートを参照して説明する。図6~図8に示す処理は、図1に示す制御装置2により実行される。なお、本開示では、前述した図2A、図2Bに示したように、対面走行路51の側方に設置されたレーザレーダ1により、対面走行路51を走行する車両を監視する例について説明する。
更には、図5に示したように、所定の時間帯における車両の通過台数、車両の進行方向、及び車両の種別を示すデータが管理サーバ3の操作者に提供される。
このようにして、本開示に係る移動体監視システム101では、レーザレーダ1を用いて所望の検出領域(図2A、図2Bの例ではK1、図3A、図3Bの例ではK2)に設定した複数の分割領域(例えば、図2Bに示すs1、s2、n1、n2)内にて車両を検出する。このため、単に検出領域K1を通過する車両を検出することのみならず、車両の走行方向、速度、種別、停車中の車両などの詳細なデータを検出し、交通流データを作成することができる。
また、レーザレーダ1は検出領域が広いので、一つのみのレーザレーダ1で移動体検出を行うことができ、更に、監視対象となる走行路の道路形状の制約を受けにくい。
次に、第2実施形態について説明する。本開示に係る移動体監視システムの構成は、前述した図1と同様であるので、構成説明を省略する。また、処理動作については、前述した図6のステップS15に示した交通流データの演算、削除処理が相違する。従って、図9に示すフローチャートを参照してS15の処理について以下に説明する。
例えば、車両の検出領域が、図10Aに示す如くの交差点Q1である場合において、この交差点Q1において、矩形状をなす複数の分割領域を設定する。具体的に、図10Bに示すように、交差点Q1の内部、及びこの交差点Q1に接続する走行路の適所に、矩形状の分割領域R13~R75を設定する。この際、走行路から逸脱する領域には分割領域は設定されない。ここで、図10Aと図10Bは対応しており、図10Bに示す分割領域R33~R55の9個の分割領域が、図10Aに示す交差点Q1の内部に対応している。
2 制御装置
3 管理サーバ
21 センサデータ取得部
22 センサデータ処理部
23 車両検出部(移動体検出部)
24 車両追跡部
25 交通流算出部
26 データベース
27 通信部
51 対面走行路
52 交差点
101 移動体監視システム
Claims (8)
- 走行路を走行する移動体を監視する移動体監視システムであって、
前記走行路に設定した所定の領域にレーザを照射し、所定の周期毎に前記所定の領域内の物体による前記レーザの反射信号を検出するレーザレーダと、
前記レーザレーダで検出される反射信号に基づいて、前記所定の領域に存在する移動体を検出する移動体検出部と、
前記所定の領域内に複数の分割領域を設定し、前記所定の周期毎に前記移動体検出部で検出される、前記各分割領域内における前記移動体の存否に基づいて、前記移動体の移動方向を検出する移動方向検出部と、
前記移動体検出部で検出される各分割領域内における移動体の数、及び、前記移動方向検出部で検出される各移動体の移動方向、を含むデータである交通流データを算出する交通流算出部と、
を備えたことを特徴とする移動体監視システム。 - 前記移動体検出部は、前記反射信号に基づいて、前記移動体の大きさ及び形状の少なくとも一方を検出し、
前記移動方向検出部は、
前記所定の周期の、異なるタイミングにおいて前記移動体検出部で検出される前記各移動体の大きさ、及び形状の少なくとも一方に基づいて、前記異なるタイミングで検出される移動体の同一性を判定し、同一であると判定された移動体について、前記移動方向を検出すること
を特徴とする請求項1に記載の移動体監視システム。 - 前記移動体検出部は、前記反射信号に基づいて、前記移動体の大きさ及び形状の少なくとも一方を検出し、
前記移動体の大きさ及び形状の少なくとも一方に基づいて、前記移動体の種別を判定すること
を特徴とする請求項1または2に記載の移動体監視システム。 - 前記移動方向検出部は、
前記所定の周期の異なるタイミングにて、前記移動体検出部で検出される各移動体の位置に基づいて、各移動体の速度を検出し、前記交通流データは、各移動体の速度を含むこと
を特徴とする請求項1~3のいずれか1項に記載の移動体監視システム。 - 前記交通流算出部は、
前記移動体検出部にて、所定時間内に前記各分割領域内に存在する移動体の数を検出し、前記所定時間内における前記各分割領域内に存在する移動体の密度を示す密度マップを作成すること
を特徴とする請求項1~4のいずれか1項に記載の移動体監視システム。 - 前記走行路は信号機を有する交差点であり、
前記交通流算出部で算出された交通流のデータに基づいて、前記信号機の点灯時間を算出し、算出した点灯時間を示す信号機点灯データを送信する通信部、を更に備えたこと
を特徴とする請求項1~5のいずれか1項に記載の移動体監視システム。 - 走行路を走行する移動体を監視する移動体監視システムの制御サーバであって、
前記走行路に設定した所定の領域にレーザを照射し、所定の周期毎に前記所定の領域内の物体による前記レーザの反射信号を検出するレーザレーダで検出される反射信号に基づいて、前記所定の領域に存在する移動体を検出する移動体検出部と、
前記所定の領域内に複数の分割領域を設定し、前記所定の周期毎に前記移動体検出部で検出される、前記各分割領域内における前記移動体の存否に基づいて、前記移動体の移動方向を検出する移動方向検出部と、
前記移動体検出部で検出される各分割領域内における移動体の数、及び、前記移動方向検出部で検出される各移動体の移動方向、を含むデータである交通流データを算出する交通流算出部と、
を備えたことを特徴とする移動体監視システムの制御サーバ。 - 走行路を走行する移動体を監視する移動体監視方法であって、
前記走行路に設定した所定の領域にレーザを照射し、所定の周期毎に前記所定の領域内の物体による前記レーザの反射信号を検出するステップと、
前記検出した反射信号に基づいて、前記所定の領域に存在する移動体を検出するステップと、
前記所定の領域内に複数の分割領域を設定し、前記所定の周期毎に検出される、前記各分割領域内における前記移動体の存否に基づいて、前記移動体の移動方向を検出するステップと、
前記各分割領域内における移動体の数、及び、各移動体の移動方向、を含むデータである交通流データを算出するステップと、
を備えたことを特徴とする移動体監視方法。
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