JP6825835B2 - Radar traffic measuring device and method - Google Patents

Description

The present disclosure relates to a technique for automatically measuring traffic volume using radar.

There is a technology that automatically measures traffic volume regardless of manpower. Patent Document 1 discloses a technique for automatically measuring traffic volume using a camera image. In addition, there is a technique for automatically measuring traffic volume using an ultrasonic sensor or an infrared sensor.

Japanese Unexamined Patent Publication No. 2015-162011

However, the technology that automatically measures traffic volume using camera images is not resistant to dark places and bad weather, it is not easy to install the camera, the accuracy of distance and speed detection is not high, and the time between images is not high. Correlation is not easy to handle. Further, the technology for automatically measuring the traffic volume using an ultrasonic sensor or an infrared sensor cannot monitor a wide range.

Therefore, in order to solve the above-mentioned problems, the present disclosure makes it resistant to dark places and bad weather, facilitates the installation of equipment, and accurately detects distance and speed when automatically measuring traffic volume without human intervention. The purpose is to increase the speed, facilitate the processing of correlations between images at each time, and monitor a wide area.

In order to achieve the above purpose, we decided to automatically measure the traffic volume using radar. Then, instead of measuring targets such as large cars, small cars, pedestrians, and bicycles as points without size, it was decided to measure them as clusters with size.

Specifically, in the present disclosure, regarding a reflected radar signal from a road whose traffic volume is to be measured, a reflection that acquires information on the reflection intensity in a space whose coordinate axis is a position and a speed based on a radar installation position. Regarding the intensity acquisition unit and the information on the reflection intensity, the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured are used as targets in the space whose coordinate axes are the position and speed based on the radar installation position. It is characterized by including a target signal detection unit that detects as a signal, and a clustering unit that forms a cluster for the target signal according to at least one of the positions and speeds of the target signals. It is a radar traffic measurement device.

Further, in the present disclosure, regarding the reflected radar signal from the road to which the traffic volume is to be measured, the reflection intensity acquisition step of acquiring the reflection intensity information in the space whose coordinate axis is the position and speed with respect to the radar installation position. With respect to the information on the reflection intensity, the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured are detected as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. A target signal detection step and a clustering step for forming a cluster of the target signal according to at least one of the positions and speeds of the target signals are provided in order. This is a radar traffic measurement method.

According to this configuration, when automatically measuring traffic volume without manpower, it is resistant to dark places and bad weather, facilitates equipment installation, improves the accuracy of distance and speed detection, and images for each time. It facilitates the processing of correlations between them and allows extensive monitoring. Then, targets such as large vehicles, small vehicles, pedestrians, and bicycles can be identified based on the size and speed of the cluster.

Further, in the present disclosure, the target signal detection unit lowers the detection threshold of the target signal as the assumed ratio of the traffic volume of the large vehicle to the traffic volume of the small vehicle increases, and the target signal detection unit lowers the detection threshold of the target signal to the traffic volume of the small vehicle. The radar traffic volume measuring device is characterized in that the lower the assumed ratio of the traffic volume, the higher the detection threshold value of the target signal and the detection of the target signal.

Here, in the case of a compact car, since the radar signal is less likely to be specularly reflected on the surface of the vehicle body, the positions of the target signal derived from the small car are rarely separated even if the detection threshold value of the target signal is increased. On the other hand, for large vehicles, the radar signal is often specularly reflected on the ceiling of the loading platform. Therefore, if the detection threshold value of the target signal is increased, the positions of the target signals derived from the large vehicle are often separated. Therefore, by lowering the detection threshold value of the target signal as in this configuration, it is possible to prevent a large vehicle from being erroneously determined as a small vehicle.

Further, in the present disclosure, in the clustering unit, the lower the distribution density of the target signal in the space with the position based on the radar installation position as the coordinate axis, the closer the target signal is to the position of the target signal. It is a radar traffic volume measuring device characterized in that the cluster is formed by placing weight on the proximity of the speed of the target signal.

Here, when the distribution density of the target signal is low and there is no traffic jam, the speed of each vehicle varies widely. Therefore, as in this configuration, a large vehicle is erroneously determined as a small vehicle by performing clustering by placing weight on the proximity of the target signal speed rather than the proximity of the target signal position. Can be prevented.

Further, in the present disclosure, in the clustering unit, the higher the distribution density of the target signal in the space with the position based on the radar installation position as the coordinate axis, the closer the target signal is to the speed of the target signal. It is a radar traffic volume measuring device characterized in that the cluster is formed by placing weights closer to the position of the target signal.

Here, in a traffic jam where the distribution density of the target signal is high, there is little variation in the speed of each vehicle. Therefore, as in this configuration, by performing clustering by placing weight on the degree of proximity of the target signal position rather than the degree of proximity of the target signal speed, one adjacent vehicle with similar speed can be used. It is possible to prevent erroneous determination as a vehicle of.

Further, in the present disclosure, the faster the speed of the target signal in the space whose coordinate axis is the speed based on the radar installation position, the faster the target signal is, the closer the target is to the position of the target signal. It is a radar traffic measurement device characterized in that the cluster is formed by placing weight on the proximity of the signal speed.

Here, when the speed of the target signal is high and there is no traffic jam, the speed of each vehicle varies widely. Therefore, as in this configuration, a large vehicle is erroneously determined as a small vehicle by performing clustering by placing weight on the proximity of the target signal speed rather than the proximity of the target signal position. Can be prevented.

Further, in the present disclosure, the slower the speed of the target signal in the space whose coordinate axis is the speed with respect to the radar installation position, the slower the target is, the closer the target is to the speed of the target signal. It is a radar traffic measurement device characterized in that the cluster is formed by placing weights on the proximity of signal positions.

Here, when there is a traffic jam where the speed of the target signal is slow, there is little variation in the speed of each vehicle. Therefore, as in this configuration, by performing clustering by placing weight on the degree of proximity of the target signal position rather than the degree of proximity of the target signal speed, one adjacent vehicle with similar speed can be used. It is possible to prevent erroneous determination as a vehicle of.

Further, the present disclosure is a large / small determination unit that determines whether a target corresponding to the cluster is a large vehicle or a small vehicle based on the distribution of the positions of the target signals constituting the cluster. It is a radar traffic volume measuring device characterized by further providing.

According to this configuration, a large car or a small car can be discriminated.

Further, in the present disclosure, for the cluster, a locus in a space whose coordinate axis is a position based on a radar installation position is extracted, and the cluster having no movement in the locus is excluded from the traffic volume measurement target, and the locus is set as the locus. The radar traffic volume measuring device is further provided with a cluster locus extraction unit that includes the moving cluster as a traffic volume measurement target.

According to this configuration, road surface reflection, road equipment, and the like can be excluded.

Further, the present disclosure describes the position and speed of the reflection intensity information, the target signal or the cluster in a space having the distance from the radar and the orientation with respect to the radar as coordinate axes, the running direction of the lane of the road, and the cluster. Regarding the coordinate conversion unit that converts the position and speed in the space whose coordinate axis is the direction straddling the lane of the road, and the target corresponding to the cluster whose coordinate conversion is performed by the coordinate conversion unit, the plurality of lanes of the road. The radar traffic measuring device is further provided with a lane determination unit for determining which lane to pass through.

According to this configuration, it is possible to determine the passing lane for each vehicle.

Further, in the present disclosure, the reflection intensity acquisition unit acquires the reflection intensity information from at least two radar devices installed in the vicinity of an intersection whose traffic volume is to be measured and pointing in at least two directions. The target corresponding to the cluster is further provided with an intersection determination unit for determining whether to go straight or turn right / left in the vicinity of the intersection based on changes in the position and speed of the target signal. It is a radar traffic measurement device.

According to this configuration, it is possible to determine whether the vehicle is going straight / right / left.

As described above, according to the present disclosure, when automatically measuring traffic volume without human intervention, it is resistant to dark places and bad weather, facilitates equipment installation, and improves the accuracy of distance and speed detection. It facilitates the processing of correlations between images at each time and can monitor a wide range.

It is a block diagram which shows the structure of the radar traffic volume measuring apparatus of this disclosure. It is a flowchart which shows the process of the radar traffic measuring apparatus of this disclosure. It is a figure which shows the process of the target signal detection of this disclosure. It is a figure which shows the process of the target signal detection of this disclosure. It is a figure which shows the process of the coordinate transformation of this disclosure. It is a figure which shows the clustering process of this disclosure. It is a figure which shows the clustering process of this disclosure. It is a figure which shows the clustering process of this disclosure. It is a figure which shows the process of the cluster locus extraction of this disclosure. It is a figure which shows the process of the lane determination of this disclosure. It is a figure which shows the process of the intersection determination of this disclosure.

Embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below are examples of the embodiments of the present disclosure, and the present disclosure is not limited to the following embodiments.

The configuration and processing of the radar traffic measuring device of the present disclosure are shown in FIGS. 1 and 2. The radar sensor RS of FIG. 5 or FIG. 11 is installed in road equipment such as a traffic light, a display board, and a telephone pole. The radar traffic volume measuring device M receives the reflected radar signal from the radar sensor RS, and transmits the vehicle trajectory information to the traffic volume management device (not shown) via a network (not shown).

The radar traffic measurement device M includes a reflection intensity acquisition unit 1, a target signal detection unit 2, a coordinate conversion unit 3, a clustering unit 4, a cluster trajectory extraction unit 5, a lane determination unit 6, an intersection determination unit 7, and a large / small size determination. It is composed of parts 8 and executes steps S1 to S8.

The reflection intensity acquisition unit 1 acquires information on the reflection intensity of the reflection radar signal from the road whose traffic volume is to be measured in a space whose coordinate axis is the position and speed with respect to the radar installation position (step S1). ). Here, the distance of the radar reflection point from the radar sensor RS (distance R in FIG. 5) is measured based on the propagation delay of the reflection radar signal, and based on the phase change of the reflection radar signal between the plurality of antennas. , The direction of the radar reflection point with respect to the radar sensor RS (direction θ in FIG. 5) is measured, and the speed of the radar reflection point with respect to the radar sensor RS (FIG. 5) based on the phase change of the reflected radar signal between multiple sweeps. The speed V) of 5 is measured.

Regarding the above reflection intensity information, the target signal detection unit 2 obtains the position of the reflected signal derived from the target for which the traffic volume is to be measured and the position of the reflected signal in the space with the position and speed as the reference axis of the radar installation position. The velocity is detected as a target signal (step S2). The processing of the target signal detection of the present disclosure is shown in FIGS. 3 and 4.

The target signal detection unit 2 dynamically sets the detection thresholds T1 and T2 of the target signal according to the reflection intensity of the background such as road surface reflection, and detects the intensity peaks P1 and P2. Here, the higher the assumed ratio of the traffic volume of the large vehicle to the traffic volume of the small vehicle, the lower the detection threshold T2 of the target signal, and the lower the assumed ratio of the traffic volume of the large vehicle to the traffic volume of the small vehicle, the higher the target. The signal detection threshold T1 is raised to detect the above target signal.

That is, for a small car, the radar signal is less likely to be specularly reflected on the surface of the vehicle body, so that even if the detection threshold value T1 of the target signal is increased, the positions of the target signal derived from the small car are rarely separated. On the other hand, for large vehicles, the radar signal is often specularly reflected on the ceiling of the loading platform. Therefore, if the detection threshold value T1 of the target signal is increased, the positions of the target signals derived from the large vehicle are often separated. Therefore, as shown in FIG. 3, by lowering the detection threshold value T2 of the target signal, it is possible to prevent a large vehicle from being erroneously determined as a small vehicle.

The coordinate conversion unit 3 has a position and a velocity in space having the distance from the radar sensor RS and the orientation with respect to the radar sensor RS as the coordinate axes for the target signal (the above reflection intensity information or the cluster described later). Is converted into a position and a speed in a space whose coordinate axes are the running direction of the road lane and the direction straddling the road lane (step S3). The processing of the coordinate transformation of the present disclosure is shown in FIG.

The coordinate conversion unit 3 sets the distance R of the radar reflection point RP from the radar sensor RS, the direction θ of the radar reflection point RP with respect to the radar sensor RS, and the speed V of the radar reflection point RP with respect to the radar sensor RS as the road lane. The position X (= Rsin (θ + φ)) of the radar reflection point RP in the direction straddling, the position Y (= Rcos (θ + φ)) of the radar reflection point RP in the direction in which the road lane runs, and the direction in which the road lane runs. It is converted to the speed V of the reflection point RP of the radar.

Here, θ is the direction of the reflection point RP of the radar as seen from the front direction of the radar sensor RS, and φ is the direction of the front of the radar sensor RS as seen from the running direction of the lane of the road. In the above description, the case where the lane is not changed is considered, but the case where the lane is changed may be considered. Further, in the above description, the installation height of the radar sensor RS is not considered, but the installation height of the radar sensor RS may be considered.

The clustering unit 4 forms a cluster for the target signal according to the proximity of at least one of the position and speed of the target signal (step S4). The clustering process of the present disclosure is shown in FIGS. 6 to 8. The target signals of FIGS. 6 to 8 are shown as a small number of point clouds for the sake of simplicity in the drawings.

Specifically, as shown in FIG. 6, the clustering unit 4 collects the target signals of seven points whose positions and speeds are close to each other as the cluster C. The rate of cluster C for size L _X direction across the road _lanes, direction of size L _Y running of road _lanes, the center position R _C and characteristic velocity V _{C (e.g.,} a 7-point a target signal The average value of) is measured.

Here, in the clustering unit 4, the lower the distribution density of the target signal in the space with the position based on the radar installation position as the coordinate axis, and / or the faster the speed of the target signal, the more the target signal of the target signal. The cluster may be formed by placing more weight on the proximity of the target signal velocity than on the proximity of the position.

Specifically, as shown in FIG. 7, the clustering unit 4 collects the target signals of the upper three points and the target signals of the middle three points whose positions are not close to each other and whose velocities are close to each other as a cluster C1. .. On the other hand, the target signals at the lower three points whose positions are not close to each other and their velocities are not close to those at the three points in the middle stage are grouped as cluster C2. Then, the cluster C1, C2, respectively, in a direction across the road lane size _{L X1, L X2,} the running direction road lane size _{L Y1, L Y2,} center position _{R C1, R C2} and characteristic velocity to measure the _{V C1,} V _C2.

Here, when the distribution density of the target signal is low and / or the speed of the target signal is high in non-congestion, the speed varies from vehicle to vehicle. Therefore, as shown in FIG. 7, a large vehicle is erroneously determined as a small vehicle by performing clustering by placing a weight on the proximity of the target signal speed rather than the proximity of the target signal position. Can be prevented.

On the other hand, in the clustering unit 4, the higher the distribution density of the target signal in the space with the position based on the radar installation position as the coordinate axis, and / or the slower the speed of the target signal, the more the target signal of the target signal. The cluster may be formed by placing more weight on the proximity of the target signal position than on the proximity of the velocity.

Specifically, as shown in FIG. 8, the clustering unit 4 outputs the target signals of the upper three points and the target signals of the middle three points, which are close in velocity but not close in position, to the cluster C3, respectively. , C4. On the other hand, the target signals at the lower three points, which are close in velocity but not close to the target signals at the three points in the middle stage, are grouped as cluster C5. Then, the cluster C3, C4, C5, respectively, the direction of the size _L X3 to cross the road _lane, L _{X4, L X5,} the running direction road lane size _{L Y3, L Y4, L Y5} , the central position measuring the _{R C3,} R C4, R _C5 and characteristic velocity _{V C3, V C4, V C5} .

Here, when the distribution density of the target signal is high and / or the speed of the target signal is slow in a traffic jam, the speed of each vehicle has little variation. Therefore, as shown in FIG. 8, by performing clustering by placing weight on the degree of proximity of the target signal position rather than the degree of proximity of the target signal speed, one adjacent vehicle having a close speed is used. It is possible to prevent erroneous determination as a vehicle of.

The cluster locus extraction unit 5 extracts the locus of the above cluster in the space whose coordinate axis is the position based on the radar installation position, and excludes the above cluster having no movement in the locus from the traffic volume measurement target. The above-mentioned cluster having a movement in the locus is included in the traffic volume measurement target (step S5). The process of extracting the cluster locus of the present disclosure is shown in FIG.

The cluster locus extraction unit 5 determines that there is a time correlation with respect to the position, velocity (finite value) and magnitude in the clusters C6 to C8 at times t1 to t3. Then, the clusters C6 to C8 at times t1 to t3 are summarized as a locus of one target. Furthermore, since there is movement in the trajectory of the one target (the speed is a finite value), the traffic volume of the one target is measured as if it were due to a large car, a small car, a pedestrian, a bicycle, or the like. Include in the target.

The cluster locus extraction unit 5 determines that there is a time correlation with respect to the position, velocity (almost 0), and magnitude in the clusters C9 to C11 at times t1 to t3. Then, the clusters C9 to C11 at times t1 to t3 are summarized as a locus of one target. Further, since there is no movement in the trajectory of the one target (the speed is almost 0), the one target is excluded from the measurement target of the traffic volume because of road surface reflection, road equipment, or the like.

The lane determination unit 6 determines which lane of the plurality of lanes of the road passes through the target corresponding to the cluster whose coordinates have been converted by the coordinate conversion unit 3 (step S6). The lane determination process of the present disclosure is shown in FIG.

The lane determination unit 6 has a lane No. After confirming that ₁ occupies from position _XL0 to position XL1 in the direction straddling the lane of the road, the lane No. 2 To ensure that the account from the position X _L1 in a direction across the road lane to the position X _L2. Since the central position of the cluster C12 is at the position X ₁ ( _{XL 0} <X ₁ <XL ₁ ) in the direction straddling the lane of the road, the target corresponding to the cluster C12 is referred to as the lane No. It is determined that 1 is passed. Further, since the center position of the cluster C13 is in a position in a direction across the road lane _{X 2 (X L1 <X 2} <X L2), the target object corresponding to the cluster C13, lane No. It is determined that the vehicle passes through 2.

The intersection determination unit 7 determines whether to go straight or turn right / left near the intersection whose traffic volume is to be measured, based on the change in the position and speed of the target signal for the target corresponding to the above cluster ( Step S7). The processing of the intersection determination of the present disclosure is shown in FIG.

Prior to step S7, in step S1, the reflection intensity acquisition unit 1 is installed in the vicinity of the intersection where the traffic volume is to be measured, and has the above-mentioned reflection intensity from at least two radar sensors RS that direct at least two directions. Get information.

The targets corresponding to the clusters C14 and C15 run in parallel on the same road before turning left / going straight at the intersection. The radar sensor RS1 is installed at the point where the target corresponding to the cluster C15 goes straight through the intersection. The radar sensor RS2 is installed at the point where the target corresponding to the cluster C14 turns left at the intersection. The radar sensors RS1 and RS2 will be described below. Regarding the center position of the intersection, the installation position of the radar sensor RS3 is located at a point-symmetrical position with the installation position of the radar sensor RS1. Further, with respect to the central position of the intersection, the installation position of the radar sensor RS4 is located at a point-symmetrical position with the installation position of the radar sensor RS2.

The intersection determination unit 7 acquires the following information about the target corresponding to the cluster C15: (1) A substantially constant speed to the installation position of the radar sensor RS1 without changing the orientation with respect to the installation position of the radar sensor RS1. (2) While changing the orientation with respect to the installation position of the radar sensor RS2, gradually decelerate and approach the installation position of the radar sensor RS2, and then change the orientation with respect to the installation position of the radar sensor RS2 while changing the orientation with respect to the installation position of the radar sensor RS2. Gradually accelerate away from the installation position of. Then, it is determined that the radar sensor RS2 has passed the installation position and has proceeded straight to the radar sensor RS1 installation position.

The intersection determination unit 7 acquires the following information about the target corresponding to the cluster C14: (1) Gradually decelerates to the installation position of the radar sensor RS1 without changing the orientation with respect to the installation position of the radar sensor RS1. After approaching, gradually accelerate away from the installation position of the radar sensor RS1 while changing the orientation with respect to the installation position of the radar sensor RS1. (2) While changing the orientation with respect to the installation position of the radar sensor RS2, the radar sensor RS2 After gradually decelerating and approaching the installation position, it gradually accelerates and approaches the installation position of the radar sensor RS2 without changing the orientation with respect to the installation position of the radar sensor RS2. Then, it is determined that the radar sensor RS1 has passed the installation position and the radar sensor RS2 has turned left.

The large / small size determination unit 8 determines whether the target corresponding to the cluster is a large vehicle or a small vehicle based on the distribution of the positions of the target signals constituting the cluster (step S8). For example, the large / small determination unit 8 compares the size _LY (see FIG. 6) of the cluster C in the running direction of the road lane with a predetermined threshold value. Then, the target object the size L _Y direction running the road lane corresponds to a larger cluster C than a predetermined threshold value, determines that large vehicle. On the other hand, it determines the size L _Y direction running the road lane for target object corresponding to small clusters C than the predetermined threshold value, as a small car.

The radar traffic measurement device and method of the present disclosure are resistant to dark places and bad weather, facilitate the installation of equipment, and have high accuracy of distance and speed detection when automatically measuring traffic without human intervention. However, it is possible to easily process the correlation between images at each time and monitor a wide range.

M: Radar traffic volume measuring device 1: Reflection intensity acquisition unit 2: Target signal detection unit 3: Coordinate conversion unit 4: Clustering unit 5: Cluster trajectory extraction unit 6: Lane determination unit 7: Intersection determination unit 8: Large / small Judgment units P1, P2: Intensity peak T1, T2: Detection threshold RS, RS1 to RS4: Radar sensor RP: Reflection point C, C1 to C15: Cluster

Claims (10)

Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
Equipped with a,
The target signal detection unit lowers the detection threshold of the target signal as the estimated ratio of the traffic volume of the large vehicle to the traffic volume of the small vehicle increases, and the estimated ratio of the traffic volume of the large vehicle to the traffic volume of the small vehicle becomes. The lower the value, the higher the detection threshold of the target signal, and the higher the target signal is detected.
A radar traffic measuring device characterized by this. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
Equipped with a,
In the clustering unit, the lower the distribution density of the target signal in the space with the position based on the radar installation position as the coordinate axis, the closer the speed of the target signal is to the closer the position of the target signal is. The cluster is constructed with a weight on the degree.
A radar traffic measuring device characterized by this. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
Equipped with a,
In the clustering unit, the higher the distribution density of the target signal in the space with the position based on the radar installation position as the coordinate axis, the closer the position of the target signal is to the closer the speed of the target signal. The cluster is constructed with a weight on the degree.
A radar traffic measuring device characterized by this. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
Equipped with a,
In the clustering unit, the faster the speed of the target signal in the space with the speed based on the radar installation position as the coordinate axis, the closer the speed of the target signal is to the position of the target signal. To form the cluster, weighting towards
A radar traffic measuring device characterized by this. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
Equipped with a,
In the clustering unit, the slower the speed of the target signal in the space with the speed based on the radar installation position as the coordinate axis, the closer the position of the target signal is to the closer the speed of the target signal. To form the cluster, weighting towards
A radar traffic measuring device characterized by this. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
With respect to the target corresponding to the cluster, a large / small determination unit for determining whether the target is a large vehicle or a small vehicle based on the distribution of the positions of the target signals constituting the cluster.
A radar traffic measuring device characterized by being equipped with. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
For the cluster, a locus in a space whose coordinate axis is a position based on the radar installation position is extracted, the cluster having no movement in the locus is excluded from the measurement target of traffic volume, and the cluster having movement in the locus is excluded. The cluster locus extractor to be included in the traffic volume measurement target,
A radar traffic measuring device characterized by being equipped with. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
With respect to the reflection intensity information, the target signal or the cluster, the position and speed in space having the distance from the radar and the orientation with respect to the radar as coordinate axes, the running direction of the road lane and the direction across the road lane. A coordinate conversion unit that converts the position and velocity in space with
A lane determination unit that determines which lane of the plurality of lanes of the road passes through the target corresponding to the cluster whose coordinates have been converted by the coordinate conversion unit.
A radar traffic measuring device characterized by being equipped with. Regarding the reflected radar signal from the road to which the traffic volume is measured, the reflection intensity acquisition unit that acquires the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detector and
With respect to the target signal, a clustering unit that constitutes a cluster according to at least one of the positions and speeds of the target signal and the degree of proximity thereof.
Equipped with a,
The reflection intensity acquisition unit acquires the reflection intensity information from at least two radar devices installed near the intersection where the traffic volume is to be measured and pointing in at least two directions.
An intersection determination unit that determines whether to go straight or turn right / left near the intersection based on the change in the position and speed of the target signal for the target corresponding to the cluster.
A radar traffic measuring device characterized by further providing . Regarding the reflected radar signal from the road to be measured for traffic volume, the reflection intensity acquisition step for acquiring the reflection intensity information in the space with the position and speed as the reference axis of the radar installation position, and
Regarding the information on the reflection intensity, the object that detects the position and speed of the reflected signal derived from the target for which the traffic volume is to be measured as the target signal in the space whose coordinate axis is the position and speed based on the radar installation position. Radar signal detection step and
With respect to the target signal, a clustering step for forming a cluster according to the proximity of at least one of the position and speed of the target signal, and
In order ,
In the target signal detection step, the higher the estimated ratio of the traffic volume of the large vehicle to the traffic volume of the small vehicle, the lower the detection threshold of the target signal, and the estimated ratio of the traffic volume of the large vehicle to the traffic volume of the small vehicle. The lower the value, the higher the detection threshold of the target signal, and the higher the target signal is detected.
A radar traffic measurement method characterized by this.

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