WO2021187244A1 - Système de surveillance de corps mobile, procédé de détection d'anomalie et programme - Google Patents

Système de surveillance de corps mobile, procédé de détection d'anomalie et programme Download PDF

Info

Publication number
WO2021187244A1
WO2021187244A1 PCT/JP2021/009320 JP2021009320W WO2021187244A1 WO 2021187244 A1 WO2021187244 A1 WO 2021187244A1 JP 2021009320 W JP2021009320 W JP 2021009320W WO 2021187244 A1 WO2021187244 A1 WO 2021187244A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection information
moving body
sensor devices
unit
monitoring system
Prior art date
Application number
PCT/JP2021/009320
Other languages
English (en)
Japanese (ja)
Inventor
崇弘 望月
浩樹 濱田
太志 鍵本
唯澄 三橋
Original Assignee
古河電気工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 古河電気工業株式会社 filed Critical 古河電気工業株式会社
Priority to JP2022508243A priority Critical patent/JPWO2021187244A1/ja
Publication of WO2021187244A1 publication Critical patent/WO2021187244A1/fr

Links

Images

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
    • G08B29/12—Checking intermittently signalling or alarm systems
    • 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

Definitions

  • the present invention relates to a mobile object monitoring system, an abnormality detection method and a program, and more particularly to a mobile object monitoring system including a plurality of sensor devices in which detectable areas overlap each other, an abnormality detection method and a program.
  • Patent Document 1 a plurality of radars are arranged along a moving path of a moving body so that their detectable regions overlap each other, and the radars are linked to track the moving body. Has been proposed.
  • a plurality of radars are arranged along the road through which the mobile object passes.
  • the detectable region of the first radar and the detectable region of the second radar have an overlapping region that is a common region, and the overlapping region includes a part of the passing region of the moving body.
  • the moving body When the moving body passes through the road from the left side to the right side, the moving body first enters the detectable range of the first radar. At this point, the moving body is not within the detectable range of the second radar, so the behavior of the moving body is captured only by the first radar. Eventually, when the moving objects enter the overlapping area, the moving objects can be detected by both the first radar and the second radar. Therefore, the first radar and the second radar independently capture the behavior of the moving body. Eventually, when the moving objects pass through the overlapping area, the moving objects can be detected only by the second radar, and the behavior is captured only by the second radar.
  • each radar since the two radars independently detect the moving object, the two radars are detected by identifying the moving object from the detection information of the two radars and capturing the behavior. It is possible to track seamlessly over the possible area. In such a mobile monitoring system, each radar must ensure an appropriate overlapping area.
  • an appropriate overlapping area may not be secured due to a radar installation error, a device failure after installation, a change in the surrounding environment, or the like.
  • An object of the present invention is to provide a mobile object monitoring system, an abnormality detection method, and a program capable of detecting whether or not an overlapping area is properly secured.
  • the above-mentioned problem is a plurality of sensor devices arranged so that a part of a detectable region overlaps with each other in a passing region of a moving body, and a monitoring device for determining an abnormality of the sensor devices, from the plurality of sensor devices.
  • the plurality of detection information received by the receiving unit is transmitted from the respective sensor devices adjacent to each other.
  • a plurality of detection information by an extraction unit that extracts the detected detection information, a first determination unit that determines whether or not the same moving object is included in a plurality of detection information extracted by the extraction unit, and a first determination unit.
  • a monitoring device including a second determination unit that determines that an abnormality has occurred in the sensor device that is the source of the detection information extracted by the extraction unit when it is determined that the same moving object is not included in the It can be solved by a mobile monitoring system equipped with.
  • the "sensor device” is a device that can detect the position of a moving object such as a radar device, LiDAR, or a camera.
  • the "moving body” includes not only vehicles such as automobiles, tractors and trains, but also moving objects such as pedestrians. Furthermore, a “moving body” does not have to be a vehicle or a single pedestrian, even a combination of tractors and trailers, multiple cars, a group of pedestrians, and other moving objects. good.
  • the first determination unit is arranged on the time axis based on the time when the plurality of detection information extracted by the extraction unit is detected, and when there is no overlapping portion, the same moving body is used for the plurality of detection information. It is desirable to determine that is not included.
  • the first determination unit moves the same to the plurality of detection information. It is desirable to determine that the body is not included.
  • the "global position information" is information related to a geographical position such as latitude / longitude and UTM grid points.
  • the monitoring device includes a notification unit that notifies an alarm when it is determined by the second determination unit that an abnormality has occurred.
  • the above-mentioned problems include a step of receiving detection information transmitted from a plurality of sensor devices arranged so that at least a part of the detectable region overlaps with each other in a passing region of a moving body, and a plurality of sensor devices.
  • the above-mentioned problems include a function of receiving detection information transmitted from a plurality of sensor devices arranged so that at least a part of a detectable area overlaps each other in a passing area of a moving body in a computer.
  • the function of extracting the detection information transmitted from each of the sensor devices adjacent to each other from the acquired detection information based on the position where the sensor device is arranged is the same as the extracted multiple detection information. If it is determined that the function to determine whether or not a moving object is included and that the same moving object is not included in a plurality of detection information, an abnormality occurs in the arrangement state of the sensor device that is the source of the detection information. It can also be solved by a program for realizing the function of determining the presence.
  • FIG. 1 shows a schematic configuration diagram of the mobile monitoring system 10 according to the embodiment of the present invention.
  • the mobile monitoring system 10 includes a plurality of radar devices 1 and 2, which are a type of sensor device, a monitoring device 3, a management center 4 that centrally manages equipment and operation information of the mobile monitoring system 10, and a radar device. It is provided with 1 and 2, a network 5 for communicably connecting the monitoring device 3 and the management center 4. Although only the first radar device 1 and the second radar device 2 are displayed in FIG. 1 among the plurality of radar devices, it is necessary to secure the detectable range necessary for tracking the moving object. A large number of radar devices are connected via the network 5.
  • the network 5 may be configured by wire or may be configured by a public network such as a wireless network or the Internet.
  • the plurality of radar devices 1 and 2 are arranged along the road 15 through which the moving body 61 passes, and periodically detect the moving body within the detectable range.
  • the detectable area 11 of the first radar device 1 and the detectable area 21 of the second radar device 2 have an overlapping area 12 which is a common area, and the overlapping area 12 is a passing area of the moving body 61. It is included.
  • the radar devices 1 and 2 transmit the detection information 37, 38 including the position (relative distance, angle) and relative speed of the detected moving body 61 to the monitoring device 3 via the network 5 in real time together with the detected time. do.
  • the monitoring device 3 includes a memory 32, a receiving unit 70, an extraction unit 71, a first determination unit 72, a second determination unit 63, and a notification unit 74, and the arrangement states of the plurality of radar devices 1 and 2. To monitor.
  • the monitoring device 3 describes the functions of the receiving unit 70, the extraction unit 71, the first determination unit 72, the second determination unit 73, and the notification unit 74 in a program, and executes the functions of the respective units by the processor 31. However, each part may be configured by individual hardware or software.
  • the receiving unit 70 of the monitoring device 3 receives and receives the detection information 37 and 38 including the ID which is the identification number unique to the detected mobile body 61 from the radar devices 1 and 2 via the network 5.
  • the detected detection information 37, 38 is stored in the memory 32.
  • the same ID is assigned to the moving bodies that are presumed to be the same from the detection results of the radar devices 1 and 2.
  • one or more of the detection positions, the moving directions, and the moving speeds match in a predetermined detection time range (for example, 0 seconds to 5 seconds).
  • a moving body having detection information that can be regarded as matching is estimated to be the same moving body, and a common ID is assigned to the moving body recorded in the detection information 37 and the moving body recorded in the detection information 38.
  • the extraction unit 71 extracts the detection information 37, 38 transmitted from the radar devices 1 and 2 adjacent to each other from the plurality of detection information received by the reception unit 70 and stored in the memory 32.
  • the first determination unit 72 determines whether or not the same moving body is included in the plurality of detection information 37, 38 extracted by the extraction unit 71.
  • the second determination unit 73 is a source of the detection information extracted by the extraction unit 71 when the first determination unit 72 determines that the plurality of detection information 37 and 38 do not include the same moving object. It is determined that an abnormality has occurred in the arrangement state of a certain radar device.
  • the notification unit 74 notifies the management center 4 of a data or signal via the network 5. Is sent.
  • the memory 32 is a computer-readable recording medium composed of semiconductor memories such as RAM, SSD, and flash memory, and magnetic memory such as HDD.
  • the memory 32 stores a program 35 in which the procedure of information processing performed by the processor 31 is described, and various parameters used in the processing. Further, in the memory 32, the geographical installation positions (for example, latitude, longitude, height) of each radar device 1 and 2, the detectable range (for example, azimuth, angle, distance), and the radar devices 1 and 2 are installed. Radar device installation information 36 such as map information of the road 15 is also stored. Further, the memory 32 also stores the detection information 37, 38 acquired by the processor 31 from the plurality of radar devices 1 and 2. The detection information 37 and 38 include information (detection data) such as the detection time, the ID assigned to each moving body 61, and the position of the moving body 61.
  • the abnormality detection method is carried out periodically or irregularly as needed, such as a request from the management center 4.
  • the program 35 stored in the memory 32 is a program for realizing the function shown in the flowchart in the mobile monitoring system 10.
  • the receiving unit 70 of the monitoring device 3 receives detection information transmitted from a plurality of radar devices 1 and 2 arranged so that at least a part of the detectable area overlaps with each other in the passing area of the moving body. (Step 41).
  • the received detection information is stored in the memory 32 as detection data of each radar device.
  • the extraction unit 71 refers to the position where each radar device is arranged, which is recorded in the radar device installation information 36 stored in the memory 32, and has a first overlapping region 12 adjacent to each other.
  • the detection information 37, 38 transmitted from the radar device 1 and the second radar device 2 is read from the memory 32 (step 42).
  • the read detection information 37, 38 is provided to the first determination unit 72.
  • the first determination unit 72 determines whether or not the read detection information 37, 38 includes the same moving body 61. More specifically, the first determination unit 72 is arranged on the time axis based on the time when the plurality of detection information 37, 38 extracted by the extraction unit 71 is detected, and when there is no overlapping portion, the first determination unit 72 is arranged. It is determined that the same moving object is not included in the plurality of detection information 37 and 38. Further, the first determination unit 72 also performs a plurality of detection information 37 even when the global positions of the moving bodies located in the areas where the detectable areas of the radar devices 1 and 2 overlap based on the detection information 37 and 38 do not match. , 38 is determined not to include the same moving body.
  • the determination result of the first determination unit 72 is sent to the second determination unit 73, and the second determination unit 73 states that the first determination unit 72 does not include the same moving body in the plurality of detection information 37 and 38. If it is determined, it is determined that an abnormality has occurred in the arrangement state of the radar device that is the source of the detection information extracted by the extraction unit 71 (step 43).
  • An abnormality in the arrangement state of the radar device means, for example, a state in which a pillar or the like on which the radar device is arranged is tilted.
  • a movement that moves from the detection information 38 of the second radar device 2 in the direction of the detectable area 11 of the first radar device 1 to the detectable area 21 of the second radar device 2. Identify body 61.
  • ID of the specified mobile body 61 is "1"
  • FIG. 3 shows an example in which the identified detection data are arranged in chronological order. In both FIGS. 3A and 3B, the detection time is taken on the horizontal axis, and the first radar device 1, the detection data 51, and the detection data 52 of the second radar device 2 are displayed separately.
  • the moving body 61 enters the detectable region 11 of the first radar device 1 at time t 0 , enters the overlap region 12 at time t 1 , passes through the overlap region 12 at time t 2 , and passes through the second radar. It passes through a range that can be detected only in the detectable area 21 of the device 2.
  • FIG. 3A is a diagram showing detection data when an appropriate overlapping region 12 is secured.
  • FIG. 3B is a diagram showing detection data when an appropriate overlapping region 12 is not secured.
  • the moving body 61 is not detected by the first radar device 1 and the second radar device 2 at the same time zone, so that the radar devices 1 and 2 are the moving bodies 61.
  • the first determination unit 72 determines the relative position between the moving body 61 and the radar device 1 included in the detection information 37, and the radar. Based on the geographical position of the device 1, the first geographical position (global position information) of the moving body 61 is obtained. Similarly, the second geographical position (global position information) of the moving body 61 based on the relative position between the moving body 61 and the radar device 2 included in the detection information 38 and the geographical position of the radar device 2. ). Since the first geographical position and the second geographical position are both the position information of the moving body 61 at the same time, they should be the same. Twice
  • the radar devices 1'and 2 are used.
  • the global position information obtained based on the relative position of the mobile body 61 seen is a different position.
  • the first determination unit 72 determines the plurality of detection information 37, 38. It is determined that the same moving body is not included in.
  • step 42 when the second determination unit 73 determines that the arrangement state of the radar device is abnormal, the determination result is sent to the notification unit 74, and the notification unit 74 issues an alarm (step 44). More specifically, the notification unit 74 notifies the management center 4 that an abnormality has been determined via the network 5. On the other hand, if it is determined that there is no abnormality in the arrangement state of the radar device, the process ends without any special processing.
  • the radar device By determining that the arrangement state is abnormal, it is possible to determine whether or not the overlapping area 12 of the mobile object monitoring system is properly secured.
  • the detection information may be arranged on the time axis based on the time when the detection information is detected, and if there is no overlapping portion, it may be determined that the overlapping area of the mobile object monitoring system is not properly secured.
  • the mobile monitoring system is in an appropriate state for users of the management system and the mobile monitoring system, maintenance and inspection personnel, etc. by issuing an alarm. It is possible to notify that there is no such thing and promote optimization.
  • the present invention is not limited to the above-described embodiment and is included in the concept and claims of the present invention. Including all aspects.
  • the sensor device is composed of a radar device, but it may be composed of another sensor device such as a camera or LiDAR.
  • the management center 4 is provided separately from the monitoring device 3, but the notification unit 74 of the monitoring device 3 integrates the two to inform the user of the mobile monitoring system, the person in charge of maintenance and inspection, and the like. It may be configured to directly notify that the mobile monitoring system is not in the proper state.
  • the presence or absence of abnormality is determined for the arrangement state of the radar device by using the IDs given to the detection information 37 and 38 stored in the memory 32 as clues.
  • the same moving body 61 included in the detection information 37, 38 may be found and the abnormality may be determined regardless of the ID.
  • the position, moving direction, moving speed, etc. of each moving body 61 are obtained based on the time-series detection information 37, 38 extracted in step 42, and the first radar device. It is possible to determine whether or not a moving body common to the detection information 37 of 1 and the detection information 38 of the second radar device 2 is included.
  • the radar device arrangement state is determined by observing the detection information from each radar device in time series and determining whether or not the same moving object is detected by a plurality of radar devices.
  • the detection position of the moving body is observed, and for example, the detection data of the moving body is transmitted along the passage path according to the detected position.
  • the radar device can be misplaced due to an installation error of the radar device. Even if the detectable area is not appropriate, the position of the moving object on the map can be specified.
  • the position on the map may be specified in place of or in combination with the peripheral information by using the GPS position information from the moving body.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Computer Security & Cryptography (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention aborde le problème de la fourniture d'un système de surveillance de corps mobile et similaire capable de détecter si une région de chevauchement de régions détectables de dispositifs radar mutuellement adjacents est, ou non, fixée de manière appropriée. Le problème peut être résolu par un système de surveillance de corps mobile et similaire comprenant une pluralité de dispositifs de capteur agencés de telle sorte que des régions détectables se chevauchent partiellement dans une région de passage de corps mobile, et un dispositif de surveillance comprenant : une unité de réception pour recevoir des informations de détection transmises à partir de la pluralité de dispositifs de capteur; une unité d'extraction pour extraire, des informations de détection reçues par l'unité de réception, des informations de détection transmises à partir de chacun des dispositifs de capteur mutuellement adjacents, sur la base d'emplacements où les dispositifs de capteur sont agencés; une première unité de détermination qui détermine si une pluralité d'éléments des informations de détection extraites par l'unité d'extraction comprennent le même corps mobile; et une seconde unité de détermination qui, si la première unité de détermination détermine qu'une pluralité d'éléments des informations de détection ne comprennent pas le même corps mobile, détermine qu'il y a une anomalie dans l'état d'agencement des dispositifs de capteur qui ont envoyé les informations de détection extraites par l'unité d'extraction.
PCT/JP2021/009320 2020-03-19 2021-03-09 Système de surveillance de corps mobile, procédé de détection d'anomalie et programme WO2021187244A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022508243A JPWO2021187244A1 (fr) 2020-03-19 2021-03-09

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020048679 2020-03-19
JP2020-048679 2020-03-19

Publications (1)

Publication Number Publication Date
WO2021187244A1 true WO2021187244A1 (fr) 2021-09-23

Family

ID=77771229

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/009320 WO2021187244A1 (fr) 2020-03-19 2021-03-09 Système de surveillance de corps mobile, procédé de détection d'anomalie et programme

Country Status (2)

Country Link
JP (1) JPWO2021187244A1 (fr)
WO (1) WO2021187244A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023119907A1 (fr) * 2021-12-20 2023-06-29 住友電気工業株式会社 Dispositif de réception et système de détection d'anomalie

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11261993A (ja) * 1998-03-06 1999-09-24 Omron Corp 撮像装置のずれ検知方法およびその方法を用いた画像処理装置
JP2001307283A (ja) * 2000-04-17 2001-11-02 Mitsubishi Electric Corp 道路監視装置
JP2003217077A (ja) * 2002-01-22 2003-07-31 Japan Construction Mechanization Association 走行車両識別装置
JP2006190247A (ja) * 2004-12-10 2006-07-20 Sumitomo Electric Ind Ltd 車両検知システム
JP2016053748A (ja) * 2014-09-02 2016-04-14 株式会社デンソー 運転支援装置および運転支援方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11261993A (ja) * 1998-03-06 1999-09-24 Omron Corp 撮像装置のずれ検知方法およびその方法を用いた画像処理装置
JP2001307283A (ja) * 2000-04-17 2001-11-02 Mitsubishi Electric Corp 道路監視装置
JP2003217077A (ja) * 2002-01-22 2003-07-31 Japan Construction Mechanization Association 走行車両識別装置
JP2006190247A (ja) * 2004-12-10 2006-07-20 Sumitomo Electric Ind Ltd 車両検知システム
JP2016053748A (ja) * 2014-09-02 2016-04-14 株式会社デンソー 運転支援装置および運転支援方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023119907A1 (fr) * 2021-12-20 2023-06-29 住友電気工業株式会社 Dispositif de réception et système de détection d'anomalie

Also Published As

Publication number Publication date
JPWO2021187244A1 (fr) 2021-09-23

Similar Documents

Publication Publication Date Title
Wohlfeil Vision based rail track and switch recognition for self-localization of trains in a rail network
CN109552367B (zh) 基于通信与主动识别相结合的列车行驶防护系统及方法
JP4923736B2 (ja) 道路通信システムおよび道路通信方法
US11361556B2 (en) Deterioration diagnosis device, deterioration diagnosis system, deterioration diagnosis method, and storage medium for storing program
US20110234749A1 (en) System and method for detecting and recording traffic law violation events
CN102576495B (zh) 针对汽车的碰撞监控
KR101731050B1 (ko) 음향센서, 레이더센서 및 영상센서를 결합한 복합센서를 이용한 돌발상황 자동 검지장치 및 그 방법
CN102426782B (zh) 一种车辆监控方法和车辆管理系统
JP7135904B2 (ja) 交通管理システム及びその制御方法
JP2020530930A (ja) 改善された事故再現のためのスマートシティ・データアナリティクスおよびソリューション
CN105096593A (zh) 位置有关的具有交通路径识别的交通分析
JP2023506870A (ja) 軌道車両のポジションを求める方法および監視システム
WO2021187244A1 (fr) Système de surveillance de corps mobile, procédé de détection d'anomalie et programme
KR102279754B1 (ko) 충돌 사고 방지 방법, 장치, 서버, 및 컴퓨터 프로그램
CN106447009A (zh) 非机动车管理方法、装置及系统
KR20130071067A (ko) 긴급차량을 이용한 위법차량 단속시스템 및 이를 이용한 위법차량 단속방법
WO2019244425A1 (fr) Système et procédé de détection d'obstacle
JP4762830B2 (ja) 周辺監視システム
RU2540816C1 (ru) Система обеспечения безопасности движения транспортных средств и пешеходов на дорогах
JP4400258B2 (ja) 高さ制限超過検知装置
CN113179303A (zh) 用于上报交通事件的方法、设备和程序载体
JP2001026266A (ja) 軌道上障害物監視通報システム
CN102306456A (zh) 自组网智能车位引导与车辆追踪系统
US10562552B2 (en) System for railway monitoring
Amjath et al. An automated railway level crossing system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21771425

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022508243

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21771425

Country of ref document: EP

Kind code of ref document: A1