WO2022153660A1 - レーダの設置角度調整方法 - Google Patents
レーダの設置角度調整方法 Download PDFInfo
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- WO2022153660A1 WO2022153660A1 PCT/JP2021/042109 JP2021042109W WO2022153660A1 WO 2022153660 A1 WO2022153660 A1 WO 2022153660A1 JP 2021042109 W JP2021042109 W JP 2021042109W WO 2022153660 A1 WO2022153660 A1 WO 2022153660A1
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- radar
- angle
- adjustment step
- installation
- condition
- Prior art date
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- 238000009434 installation Methods 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000012790 confirmation Methods 0.000 claims description 54
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Classifications
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- 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
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
Definitions
- This disclosure relates to a radar installation angle adjustment method.
- This application claims priority based on Japanese Application No. 2021-004844 filed on January 15, 2021, and incorporates all the contents described in the Japanese application.
- Patent Document 1 discloses an axis adjusting device that adjusts the axis of an in-vehicle radar mounted on a vehicle.
- the radar installation angle adjustment method is a radar installation angle adjustment method for adjusting the radar installation angle for detecting an object in the target area, and operates the radar installed in the installation target.
- the first adjustment step for adjusting the angle of the radar and the radar whose angle is adjusted in the first adjustment step are operated without causing the radar to be operated, and the angle of the radar is adjusted based on the detection result by the radar. Includes 2 adjustment steps.
- the present disclosure can be realized not only as a radar installation angle adjustment method having the above-mentioned characteristic steps, but also as a radar used in the radar installation angle adjustment method, or in a computer using the above method. It can be realized as a computer program that executes a part.
- Radar is also used for traffic monitoring at intersections and roads.
- Radars for traffic monitoring (hereinafter, also referred to as "infrastructure radars") are installed at intersections or roads by construction personnel, and the angle of the installed radars is adjusted by the coordinating personnel.
- the power supply is not connected to the radar, and the construction technician does not have knowledge about the angle adjustment of the radar, so the adjustment by the construction technician is difficult.
- the installed radar is turned on at the adjustment stage, and the adjuster adjusts the angle so that the irradiation axis faces in an appropriate direction while checking the output.
- the radar installed by the construction staff has different angles, and the optimum angle differs depending on the installation location, so it may be necessary to remove the radar and install it again in order to make correct adjustments. Was complicated.
- the installation angle of the radar for traffic monitoring can be easily adjusted.
- the radar installation method is a radar installation angle adjustment method for adjusting the installation angle of the infrastructure radio wave radar that detects an object in the target area, and is a radar installed in the installation target.
- the first adjustment step for adjusting the angle of the radar and the radar whose angle was adjusted in the first adjustment step are operated without operating the radar, and the angle of the radar is adjusted based on the detection result by the radar.
- the angle of the radar can be adjusted even when the power is not turned on to the radar. Therefore, since the person in charge of the construction of the radar installation work can execute the first adjustment step, the radar installation angle can be easily adjusted.
- operation as used herein means that the radar detects an object. That is, even if the accessory portion attached to the radar, for example, the angle confirmation unit described later, is in an operable state, the radar is in a non-operating state unless the radar can exert the object detection function.
- the first adjustment step includes determining whether or not the confirmation result in the angle confirmation unit attached to the radar satisfies the preset first condition, and the confirmation result is the first condition.
- the first adjustment step may be completed when the above conditions are satisfied. As a result, the executing subject of the first adjustment step can easily determine the completion of the first adjustment step. Therefore, even a construction technician who does not have knowledge about radar adjustment can easily perform the first adjustment step.
- the angle confirmation unit may be a sighting device, and the first condition may be that the field of view of the sighting device is included in the target area. The completion of the first adjustment step can be easily determined by using the sighting device.
- the angle confirmation unit is an angle sensor that detects at least one of the horizontal angle and the depression angle of the radar, and the first condition includes the angle detected by the angle sensor within a predetermined setting range. It may be. Thereby, by comparing the angle detected by the angle sensor with the set range, it is possible to clearly determine whether or not the first condition is satisfied. Therefore, the completion of the first adjustment step can be easily determined.
- the first adjustment step may include determining the set range based on the angle detected by the angle sensor and the installation height of the radar. Thereby, an appropriate setting range can be determined according to the angle detected by the angle sensor and the installation height of the radar.
- the setting range may be determined by an information terminal that receives angle information indicating the angle and height information indicating the installation height detected by the angle sensor. Thereby, the setting range can be easily determined by the information terminal.
- the angle confirmation unit can be attached to and detached from the radar, and the angle confirmation unit may be attached to the radar in the first adjustment step. As a result, the angle confirmation unit can be attached to the radar only when the first adjustment step is executed.
- the second adjustment step includes determining whether or not the detection result by the radar satisfies the preset second condition, and when the detection result satisfies the second condition, the second adjustment step is performed.
- the adjustment step may be completed. As a result, the executing subject of the second adjustment step can easily determine the completion of the second adjustment step.
- the second condition may be that the position of the object detected by the radar is included in a predetermined range. Thereby, it is possible to clearly determine whether or not the second condition is satisfied based on the position of the object detected by the radar.
- the second condition may be that the difference between the number of objects detected by the radar and the number of objects in the target area is included in the predetermined setting range. Thereby, it is possible to clearly determine whether or not the second condition is satisfied based on the number of objects detected by the radar.
- FIG. 1 is a diagram showing an example of using the radar according to the present embodiment.
- the radar 100 according to this embodiment is a radio wave radar for traffic monitoring (radio wave radar for infrastructure).
- the radar 100 is attached to an arm 200 (see FIG. 2) or the like provided at an intersection or a road.
- the radar 100 is a millimeter-wave radar and a radio wave sensor.
- the radar 100 irradiates the target area 300 on the road with radio waves (millimeter waves) and receives the reflected waves to detect an object (for example, vehicle V) in the target area 300. More specifically, the radar 100 can detect the distance to the vehicle V traveling on the road, the speed of the vehicle V, and the horizontal angle of the position where the vehicle V exists with respect to the radio wave irradiation axis of the radar.
- the radar 100 is installed so that the direction of the radio wave irradiation axis (the method shown by the broken line in FIG. 1; hereinafter referred to as the "reference direction") faces the target area 300. If the reference direction does not correctly face the target area 300, the radar 100 cannot accurately detect an object in the target area 300. Therefore, in the present embodiment, the angle of the radar 100 is adjusted so that the reference direction faces the target area 300 by the radar installation angle adjusting method as described below.
- FIG. 2 is a perspective view showing an example of the external configuration of the radar 100 according to the present embodiment.
- the radar 100 has a transmission / reception surface 101 for transmitting / receiving millimeter waves.
- the reference direction is the normal direction of the transmission / reception surface 101.
- the radar 100 includes at least one transmitting antenna (not shown) and a plurality of (for example, two) receiving antennas.
- the radar 100 transmits a modulated wave, which is a millimeter wave, from the transmitting antenna through the transmission / reception surface 101.
- the modulated wave hits the object and is reflected, and the receiving antenna receives the reflected wave.
- the radar 100 performs signal processing on the transmitted wave signal and the received wave signal by a signal processing circuit (not shown), and determines the distance to the object, the angle at which the object exists (hereinafter referred to as "the position of the object"), and the speed of the object. To detect.
- the radar 100 is configured so that the installation angle can be adjusted.
- the radar 100 includes a radar main body 102, a depression angle adjusting unit 103, and a horizontal angle adjusting unit 104.
- the radar main body 102 is formed in a box shape, and the depression angle adjusting portion 103 is attached to the side surface of the radar main body 102.
- the depression angle adjusting unit 103 includes a pair of arms 103a and a connecting unit 103b that connects the pair of arms 103a.
- Each of the pair of arms 103a is rotatable about a horizontal axis parallel to the transmission / reception surface 101 on both side surfaces of the radar body 102.
- the radar main body 102 can be rotated about a horizontal axis by the depression angle adjusting unit 103, whereby the depression angle of the radar main body 102 is adjusted.
- the connecting portion 103b is connected to the horizontal angle adjusting portion 104.
- the horizontal angle adjusting unit 104 is fixed to the pole to be installed.
- the horizontal angle adjusting portion 104 is rotatable about the vertical axis on the upper surface of the connecting portion 103b.
- the radar body 102 connected to the horizontal angle adjusting unit 104 via the depression angle adjusting unit 103 can rotate about the vertical axis by the horizontal angle adjusting unit 104, whereby the horizontal angle of the radar body 102 is adjusted.
- FIG. 3 is a flowchart showing an example of a radar installation angle adjusting method according to the present embodiment.
- the person in charge of construction installs the radar 100 on the installation target (pole) (step S0). At this point, the radar 100 is not connected to the power supply.
- step S11 the first adjustment step is executed (step S11).
- the angle of the radar 100 is adjusted without operating the radar 100.
- the radar 100 is provided with an angle confirmation unit 400.
- the angle confirmation unit 400 may be used.
- 4A to 4C are examples of the angle confirmation unit 400 according to the present embodiment.
- the angle confirmation unit 400 is the sighting device 400A.
- the sighting device 400A is fixed to the radar main body 102 so that the optical axis (central axis of the sighting device) is parallel to the reference direction of the radar 100.
- the user (for example, a person in charge of construction) executes the first adjustment step while checking the field of view of the sighting device 400A.
- FIG. 5 is an example of the field of view of the sighting device 400A.
- the sighting device 400A is provided with a slit 410, and this slit 410 is the field of view of the sighting device 400A.
- FIG. 6 is a block diagram showing a connection relationship between the devices when the information terminal is used in the first adjustment step.
- the angle confirmation unit 400 is connected to the information terminal 500 by wire or wirelessly, and transmits the confirmation result data to the information terminal 500.
- the information terminal 500 is, for example, a smartphone, a tablet, or a laptop computer.
- the sighting device 400A may include an image sensor and can output a field image of the sighting device 400A.
- the field image of the sighting device 400A is displayed on the display of the information terminal 500.
- the user can adjust the angle of the radar 100 while checking the field of view image displayed on the display of the information terminal 500.
- the installation position of the radar 100 is a position where the user cannot look into the sighting device 400A
- the user can confirm the field of view of the sighting device 400A on the display of the information terminal 500.
- the angle confirmation unit 400 is the angle sensor 400B.
- the angle sensor 400B can detect, for example, a horizontal angle and a vertical angle (depression angle).
- the angle sensor 400B is connected to the information terminal 500.
- the data of the detected value (angle) of the angle sensor 400B is transmitted to the information terminal 500.
- the information terminal 500 can display the horizontal angle and the depression angle detected by the angle sensor 400B on the display.
- the display of the information terminal 500 may display an appropriate horizontal angle and depression angle of the radar 100 or an appropriate range of the horizontal angle and an appropriate range of the depression angle.
- the user can adjust the angle of the radar 100 while checking the horizontal angle and the depression angle detected by the angle sensor 400B displayed on the display of the information terminal 500.
- the user can easily adjust the angle of the radar 100 while comparing the horizontal angle and depression angle detected by the angle sensor 400B with the appropriate horizontal angle and depression angle or the appropriate range of horizontal angle and the appropriate range of depression angle. It can be adjusted to an appropriate horizontal angle and depression angle.
- the installation height (height from the ground) of the radar 100 may be input to the information terminal 500, and the information terminal 500 may determine an appropriate range of depression angle based on the installation height.
- the appropriate depression angle of the radar 100 varies depending on the installation height of the radar. Therefore, the appropriate range of the depression angle according to the installation height of the radar 100 is appropriately set.
- the angle confirmation unit 400 may be attached to and detached from the radar body 102.
- the radar main body 102 is provided with a mounting portion for attaching / detaching the angle confirmation portion 400, and by mounting the angle confirmation portion 400 on the mounting portion, the angle confirmation portion 400 is mounted at an appropriate angle with respect to the radar main body 102. Will be done.
- the angle confirmation unit 400 may be attached to the radar 100 when the first adjustment step is executed, and may be removed from the radar 100 when the first adjustment step is completed.
- a smartphone 400C having a function as an angle confirmation unit 400 is attached to the radar main body 102.
- the radar main body 102 is provided with a fixing portion 420 for fixing the smartphone 400C.
- a smartphone 400C can be attached to and detached from the fixed portion 420.
- the built-in camera of the smartphone 400C can be used as a sighting device. Further, the angle sensor (direction sensor and gyro sensor) built in the smartphone 400C can be used.
- step S12 The user determines whether or not the confirmation result by the angle confirmation unit 400 satisfies a predetermined first condition.
- the first condition is that the field of view of the sighting device 400A is included in (at least a part of) the target area 300.
- the first condition can be that the visual field includes the adjustment point. If the field of view of the sight 400A includes an adjustment point, the user determines that the first condition is met. If the field of view of the sight 400A does not include the adjustment point, the user determines that the first condition is not met.
- the first condition is that the value detected by the angle sensor 400B falls within a predetermined setting range.
- the setting range can be the above-mentioned appropriate range.
- the user determines that the first condition is satisfied.
- the value detected by the angle sensor 400B is out of the set range, the user determines that the first condition is not satisfied.
- step S12 If the confirmation result by the angle confirmation unit 400 does not satisfy the first condition (NO in step S12), it is determined that the first adjustment step has not been completed. In this case, the process returns to step S11 and the first adjustment step is continued.
- step S12 If the confirmation result by the angle confirmation unit 400 satisfies the first condition (YES in step S12), it is determined that the first adjustment step has been completed. In this case, the process proceeds to the next step S21.
- the first adjustment step S11 and step S12 described above may be executed by a construction person when the radar 100 is installed on the installation target.
- the first adjustment step as described above even a construction technician who does not have knowledge about the angle adjustment of the radar can easily adjust the angle of the radar 100. Further, since the angle of the radar 100 is adjusted substantially appropriately in the first adjustment step, the person in charge of adjustment only needs to fine-tune the angle of the radar 100 in the second adjustment step later, which imposes a burden on the adjustment work. It will be reduced.
- the second adjustment step is executed (step S21).
- the second adjustment step is executed in the angle adjustment work of the radar 100 by the adjustment person.
- the power is turned on to the radar 100.
- the radar 100 is operated, and the angle of the radar 100 is adjusted based on the detection result of the radar 100.
- FIG. 7 is a block diagram showing a connection relationship between the devices when the information terminal is used in the second adjustment step.
- the radar 100 is connected to the information terminal 600 by wire or wirelessly, and transmits the detection result data to the information terminal 600.
- the information terminal 600 is, for example, a smartphone, a tablet, or a laptop computer.
- the detection result of the radar 100 is displayed on the display of the information terminal 600.
- the information terminal 600 may process the detection data of the radar 100 and display the detected travel locus of the vehicle on the screen.
- 8A and 8B are diagrams showing a display example of the traveling locus of the vehicle.
- the screen includes a lane boundary line L to represent a lane.
- the travel locus of the detected vehicle V is displayed on the screen.
- the broken line vehicle figure V1 shows the position of the vehicle detected in the past
- the solid line vehicle figure V2 shows the latest position of the vehicle. Since the position of the vehicle in chronological order is displayed, the traveling locus of the vehicle is shown.
- the user can determine whether or not the detected vehicle position is within a predetermined range. In a specific example, the user can determine whether or not the detected vehicle trajectory is included in the lane.
- FIG. 8A shows a case where the detected vehicle trajectory is included in the lane. In this case, it can be determined that the radar 100 is adjusted to an appropriate angle.
- FIG. 8B shows a case where the detected vehicle trajectory deviates from the lane. If the vehicle's trajectory deviates from the lane even though the vehicle has not changed lanes, it can be determined that the radar 100 is not adjusted to an appropriate angle. The user can adjust the angle of the radar 100 while checking the trajectory of the vehicle displayed on the display of the information terminal 600.
- the information terminal 600 may process the detection data of the radar 100 and display the number of detected vehicles for each lane on the screen.
- FIG. 9 is a diagram showing a display example of the number of vehicles in each lane.
- the number of vehicles (10, 15, 7, 20) is displayed in association with the lane numbers (# 1, # 2, # 3, # 4).
- the user visually counts the number of vehicles in each lane and compares it with the number of vehicles in each lane displayed on the screen. If the number of vehicles in each lane visually confirmed matches the number of vehicles in each lane displayed on the screen, it can be determined that the radar 100 is adjusted to an appropriate angle.
- the radar 100 is not adjusted to an appropriate angle.
- the user can adjust the angle of the radar 100 while checking the number of vehicles displayed on the display of the information terminal 600.
- the user determines whether or not the detection result by the radar 100 satisfies a predetermined second condition (step S22).
- the second condition is that the position of the detected object (vehicle) is included within a predetermined range.
- the second condition is that the detected vehicle trajectory is included in the lane.
- the user determines that the second condition is satisfied. If the detected vehicle trajectory deviates from the lane even though the vehicle has not changed lanes, the user determines that the second condition is not satisfied.
- the second condition is that the difference between the number of detected objects (vehicles) and the number of objects (vehicles) in the target area 300 is included in the predetermined setting range.
- the second condition is that the difference between the detected number of vehicles in each lane and the number of vehicles in each lane visually confirmed by the user is included in the setting range.
- the user determines that the second condition is satisfied. If the difference between the detected number of vehicles per lane and the visually confirmed number of vehicles per lane is not included in the set range, the user determines that the second condition is not satisfied.
- the setting range is preferably a range having a certain width, such as 5 or less and 0 or more. This makes it possible to determine whether or not the radar angle has been adjusted accurately by allowing a counting error when it is difficult to visually count the number of vehicles accurately, for example, when the contrast of the camera is low. ..
- step S22 If the detection result by the radar 100 does not satisfy the second condition (NO in step S22), it is determined that the second adjustment step has not been completed. In this case, the process returns to step S21, and the second adjustment step is continued.
- step S22 If the detection result by the radar 100 satisfies the second condition (YES in step S22), it is determined that the second adjustment step is completed. In this case, the adjustment of the installation angle of the radar 100 is completed.
- Step S12 for determining whether or not the confirmation result by the angle confirmation unit 400 satisfies the first condition, but the present invention is not limited to this.
- Step S12 may be executed by the information terminal 500.
- the angle confirmation unit 400 is the sighting device 400A
- an image of a landscape that enters the field of view of the sighting device 400A when the radar 100 is adjusted to an appropriate angle is stored in advance in the information terminal 500 as a standard image.
- the information terminal 500 matches the visual field image output from the sighting device 400A with the standard image, determines that the first condition is satisfied if the similarity between the two images is equal to or higher than a predetermined value, and the similarity is a predetermined value. If it is less than, it can be determined that the first condition is not satisfied.
- the appropriate range of the horizontal angle and the appropriate range of the depression angle of the radar 100 are stored in advance in the information terminal 500 as the setting range.
- the information terminal 500 compares the detected values of the horizontal angle and the depression angle by the angle sensor 400B with the set range, determines that the first condition is satisfied if the detected value falls within the set range, and the detected value deviates from the set range. For example, it can be determined that the first condition is not satisfied.
- step S12 may be executed by the smartphone 400C.
- step S12 may be executed by the server instead of the information terminal 500.
- Step S22 for determining whether or not the detection result by the radar 100 satisfies the second condition, but the present invention is not limited to this.
- Step S22 may be executed by the information terminal 600.
- the information terminal 600 calculates the trajectory of the vehicle for each lane based on the detection data of the radar 100, and determines whether or not the trajectory of the vehicle is included in the lane. If the locus of the vehicle is in the lane, it can be determined that the second condition is satisfied, and if the locus of the vehicle deviates from the lane, it can be determined that the second condition is not satisfied.
- the information terminal 600 detects the number of vehicles in each lane based on the detection data of the radar 100, and detects the number of vehicles in each lane by processing an image by another detection means, for example, a camera. Determine if they match. If the number of vehicles obtained from the detection data of the radar 100 and the number of vehicles detected by another detection means match, it is determined that the second condition is satisfied, and if they do not match, the second condition is satisfied. It can be determined that the condition is not satisfied.
- step S22 may be executed by the server instead of the information terminal 600.
- the method of adjusting the installation angle of the radar 100 adjusts the installation angle of the radar 100, which is a radio wave radar for infrastructure that detects the vehicle V in the target area 300.
- the method of adjusting the installation angle of the radar 100 includes a first adjustment step S11 and a second adjustment step S21.
- the first adjustment step S11 the angle of the radar 100 is adjusted without operating the radar 100 installed on the installation target.
- the second adjustment step S21 the radar 100 whose angle is adjusted in the first step is operated, and the angle of the radar 100 is adjusted based on the detection result by the radar 100.
- the first adjustment step S11 the angle of the radar 100 can be adjusted even when the power is not turned on to the radar 100. Therefore, since the person in charge of the construction of the radar 100 can execute the first adjustment step S11, the installation angle of the radar 100 can be easily adjusted.
- the first adjustment step S11 may include a step S12 of determining whether or not the confirmation result in the angle confirmation unit 400 attached to the radar 100 satisfies the preset first condition.
- the first adjustment step S11 may be completed when the confirmation result by the angle confirmation unit 400 satisfies the first condition.
- the executing body of the first adjustment step S11 (for example, the person in charge of construction) can easily determine the completion of the first adjustment step S11. Therefore, even a construction technician who does not have knowledge about radar adjustment can easily execute the first adjustment step S11.
- the angle confirmation unit 400 may be a sighting device 400A.
- the first condition may be that the field of view of the sight 400A is included in the target area 300. By using the sighting device 400A, the completion of the first adjustment step S11 can be easily determined.
- the angle confirmation unit 400 may be an angle sensor 400B that detects at least one of the horizontal angle and the depression angle of the radar 100.
- the first condition may be that the angle detected by the angle sensor 400B is included in the predetermined setting range. Thereby, by comparing the angle detected by the angle sensor 400B with the set range, it is possible to clearly determine whether or not the second condition is satisfied. Therefore, the completion of the first adjustment step S11 can be easily determined.
- the first adjustment step S11 may include determining the set range based on the angle detected by the angle sensor 400B and the installation height of the radar 100. Thereby, an appropriate setting range can be determined according to the angle detected by the angle sensor 400B and the installation height of the radar 100.
- the setting range may be determined by the information terminal 500 that receives the angle information indicating the angle detected by the angle sensor 400B and the height information indicating the installation height. As a result, the setting range can be easily determined by the information terminal 500.
- the angle confirmation unit 400 may be attached to and detached from the radar.
- the angle confirmation unit 400 may be mounted on the radar.
- the angle confirmation unit 400 can be attached to the radar 100 only when the first adjustment step is executed.
- the second adjustment step S21 may include determining whether or not the detection result by the radar 100 satisfies the preset second condition.
- the second adjustment step S21 may be completed when the detection result by the radar 100 satisfies the second condition.
- the executing entity of the second adjustment step S21 (for example, the person in charge of adjustment) can easily determine the completion of the second adjustment step S21.
- the second condition may be that the trajectory of the vehicle detected by the radar 100 is included in the lane. Thereby, it is possible to clearly determine whether or not the second condition is satisfied based on the trajectory of the vehicle detected by the radar 100.
- the second condition may be that the difference between the number of vehicles per lane detected by the radar 100 and the number of vehicles V per lane in the target area 300 is included in the predetermined setting range. Thereby, it is possible to clearly determine whether or not the second condition is satisfied based on the number of vehicles in each lane detected by the radar 100.
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Abstract
Description
レーダは交差点、道路等での交通監視にも利用されている。交通監視用のレーダ(以下、「インフラレーダ」ともいう)は、工事担当者によって交差点又は道路に設置され、設置されたレーダの角度が調整担当者によって調整される。工事担当者による設置の時点では、レーダに電源が接続されておらず、さらに工事担当者はレーダの角度調整についての知識を有していないために、工事担当者による調整は困難である。設置されたレーダは、調整段階において電源が投入され、調整担当者が出力を確認しながら適切な方向に照射軸が向くように角度を調整する。しかし、工事担当者によって設置されたレーダは角度がまちまちであり、また設置場所毎に最適な角度が異なるため、正しく調整するためにはレーダを一旦取り外し再度設置する必要がある場合もあるなど調整が煩雑であった。
本開示によれば、交通監視用のレーダの設置角度を容易に調整することができる。
以下、本開示の実施形態の概要を列記して説明する。
以下、図面を参照しつつ、本発明の実施形態の詳細を説明する。なお、以下に記載する実施形態の少なくとも一部を任意に組み合わせてもよい。
図1は、本実施形態に係るレーダの使用例を示す図である。本実施形態に係るレーダ100は、交通監視用の電波レーダ(インフラ用電波レーダ)である。レーダ100は、交差点又は道路に設けられたアーム200(図2参照)等に取り付けられる。レーダ100は、ミリ波レーダであり、電波センサである。レーダ100は、道路上の対象エリア300に電波(ミリ波)を照射し、その反射波を受信することで対象エリア300内の物体(例えば車両V)を検出する。さらに具体的には、レーダ100は道路を走行する車両Vまでの距離、車両Vの速度、及びレーダの電波照射軸に対する車両Vが存在する位置の水平角度を検出することができる。
図3は、本実施形態に係るレーダの設置角度調整方法の一例を示すフローチャートである。
上述した実施形態では、角度確認部400による確認結果が第1条件を満たすか否かを判定するステップS12がユーザによって実行されたが、これに限定されない。情報端末500によってステップS12が実行されてもよい。
以上のように、実施形態に係るレーダ100の設置角度調整方法は、対象エリア300における車両Vを検出するインフラ用電波レーダであるレーダ100の設置角度を調整する。レーダ100の設置角度調整方法は、第1調整ステップS11と、第2調整ステップS21とを含む。第1調整ステップS11において、設置対象に設置されたレーダ100を稼働させずに、レーダ100の角度を調整する。第2調整ステップS21において、第1ステップにおいて角度が調整されたレーダ100を稼働させ、レーダ100による検出結果に基づいて、レーダ100の角度を調整する。これにより、第1調整ステップS11において、レーダ100に電源が投入されていなくてもレーダ100の角度を調整することができる。したがって、レーダ100の設置工事を施工した工事担当者が第1調整ステップS11を実行することができるため、レーダ100の設置角度を容易に調整することが可能となる。
今回開示された実施の形態はすべての点で例示であって、制限的ではない。本発明の権利範囲は、上述の実施形態ではなく請求の範囲によって示され、請求の範囲と均等の意味及びその範囲内でのすべての変更が含まれる。
101 送受信面
102 レーダ本体
103 俯角調整部
103a アーム
103b 連結部
104 水平角調整部
200 アーム
300 対象エリア
400 角度確認部
400A 照準器
400B 角度センサ
400C スマートフォン
410 スリット
420 固定部
500,600 情報端末
L 車線境界線
V 車両
V1,V2 図形
Claims (10)
- 対象エリアにおける物体を検出するインフラ用電波レーダの設置角度を調整するためのレーダの設置角度調整方法であって、
設置対象に設置されたレーダを稼働させずに、前記レーダの角度を調整する第1調整ステップと、
前記第1調整ステップにおいて角度が調整された前記レーダを稼働させ、前記レーダによる検出結果に基づいて、前記レーダの角度を調整する第2調整ステップと、
を含む、
レーダの設置角度調整方法。 - 前記第1調整ステップは、前記レーダに取り付けられた角度確認部における確認結果が予め設定された第1条件を満たすか否かを判定することを含み、前記確認結果が前記第1条件を満たす場合に前記第1調整ステップが完了する、
請求項1に記載のレーダの設置角度調整方法。 - 前記角度確認部は照準器であり、
前記第1条件は前記照準器における視野が前記対象エリアに含まれることである、
請求項2に記載のレーダの設置角度調整方法。 - 前記角度確認部は、前記レーダの水平角及び俯角のうち少なくとも1つの角度を検出する角度センサであり、
前記第1条件は前記角度センサが検出した前記角度が所定の設定範囲に含まれることである、
請求項2に記載のレーダの設置角度調整方法。 - 前記第1調整ステップは、前記角度センサが検出した前記角度及び前記レーダの設置高さに基づいて前記設定範囲を決定することを含む、
請求項4に記載のレーダの設置角度調整方法。 - 前記設定範囲は、前記角度センサが検出した前記角度を示す角度情報及び前記設置高さを示す高さ情報を受け付ける情報端末によって決定される、
請求項5に記載のレーダの設置角度調整方法。 - 前記角度確認部は前記レーダに着脱可能であり、
前記第1調整ステップにおいて、前記角度確認部が前記レーダに装着される、
請求項2から請求項6のいずれか1項に記載のレーダの設置角度調整方法。 - 前記第2調整ステップは、前記レーダによる検出結果が予め設定された第2条件を満たすか否かを判定することを含み、前記検出結果が前記第2条件を満たす場合に前記第2調整ステップが完了する、
請求項1から請求項7のいずれか1項に記載のレーダの設置角度調整方法。 - 前記第2条件は、前記レーダによって検出された物体の位置が所定の範囲内に含まれることである、
請求項8に記載のレーダの設置角度調整方法。 - 前記第2条件は、前記レーダによって検出された物体の数と前記対象エリア内における物体の数との差が所定の設定範囲に含まれることである、
請求項8に記載のレーダの設置角度調整方法。
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