Traffic flow measuring apparatus and method, and computer-readable storage medium for judging size of vehicle depending on number of times reflected wave from vehicle is detected within detection time

• US 9,286,796 B2
• Filed: 06/19/2014
• Issued: 03/15/2016
• Est. Priority Date: 07/24/2013
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Ikeya, Tomonori, Shite, Kazuhiko, Kajiki, Junko, Ochi, Mitsuru
• Primary Examiner(s): Rushing, Mark
• Application Number:
  US14/308,796
• Publication Number:
  US 20150029042A1
• Time in Patent Office: 635 Days
• Field of Search: 340/933, 340/934
• US Class Current: 1/1
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/583 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 7/354 Extracting wanted echo-signals Doppler systems G01S13/50
• CPC Class Codes: G01S 7/41 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/0125 Traffic data processing
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P

Abstract

A traffic flow measuring apparatus includes a processor configured to judge a size of a vehicle, depending on a detection frequency or a non-detection frequency of a reflected wave from the vehicle with respect to a transmission wave transmitted from a radar apparatus, within a detection time of the reflected wave from the vehicle, set according to the detection of the reflected wave.

Claims

1. A traffic flow measuring apparatus comprising:

a storage unit configured to store a program; and

a processor configured to execute the program and perform a process including

judging a size of a vehicle depending on a number of times a reflected wave from the vehicle is detected within a detection time with respect to a transmission wave transmitted from a radar apparatus to the vehicle, wherein the detection time is set according to the detected reflected wave.

2. The traffic flow measuring apparatus as claimed in claim 1, wherein the process further includes

estimating an estimated position where the vehicle is likely to be detected after a predetermined time, based on a detected position of the vehicle detected from the reflected wave from the vehicle with respect to the transmission wave,

storing the detected position and the estimated position in a distinguishable manner within the storage unit, in correspondence with the vehicle, and

judging whether a size of the vehicle is greater than a predetermined size, based on a proportion of a number of estimated positions stored in the storage unit with respect to a sum of a number of the estimated positions and a number of the detected positions stored in the storage unit in correspondence with the vehicle.

3. The traffic flow measuring apparatus as claimed in claim 1, wherein the process further includes

tracking a traveling locus of the vehicle,

computing a vehicle detection rate Dr from Dr=(K/Pa)×

100, and

judging that the size of the vehicle is greater than or equal to a predetermined size when the vehicle detection rate Dr exceeds a threshold value,

where K denotes a count value of a number of times the vehicle is counted at an actual sample position within a detection range DR defined by a first detection boundary B1 and a second detection boundary B2 that are perpendicular to lanes, and Pa denotes a number of traveling loci of vehicles tracked within the detection range DR.

4. The traffic flow measuring apparatus as claimed in claim 1, wherein the process further includes

computing a vehicle detection rate Dr from Dr=(K/P)×

100, and

judging that the size of the vehicle is greater than or equal to a predetermined size when the vehicle detection rate Dr exceeds a threshold value,

where K denotes a count value of a number of times the vehicle is detected at an actual sample position within a detection range DR defined by a first detection boundary B1 and a second detection boundary B2 that are perpendicular to lanes, and P denotes a parameter represented by a formula P={|B1m−

B2m|/V}×

W, where B1m denotes a horizontal distance from the radar apparatus to the detection boundary B1, B2m denotes a horizontal distance from the radar apparatus to the detection boundary B2, W denotes a number of times a measurement is made per unit time, and V denotes a velocity of the vehicle within the detection range DR.

5. The traffic flow measuring apparatus as claimed in claim 4, wherein the process further includes

counting a number of vehicles passing a judging position perpendicular to the lanes,

tracking a traveling locus of each vehicle, and

judging a lane, having known coordinates, on which each vehicle is located at a point in time when each vehicle passes the judging position.

6. The traffic flow measuring apparatus as claimed in claim 5, wherein the process further includes

performing the counting the number of vehicles and the judging the size of the vehicle, for each lane that is judged by the judging the lane.

19. The traffic flow measuring apparatus as claimed in claim 1, wherein the process further includes

counting a number of vehicles passing a judging position on a lane according to the size of the vehicle judged by the judging.

7. A traffic flow measuring method comprising:

transmitting a transmission wave from a radar apparatus and receiving by the radar apparatus a reflected wave from a vehicle with respect to the transmission wave; and

first judging a size of the vehicle, by a processor of the radar apparatus, depending on a number of times the reflected wave from the vehicle is detected within a detection time, wherein the detection time is set according to the detected reflected wave.

8. The traffic flow measuring method as claimed in claim 7, further comprising:

estimating, by the processor, an estimated position where the vehicle is likely to be detected after a predetermined time, based on a detected position of the vehicle detected from the reflected wave from the vehicle with respect to the transmission wave, and

storing, by the processor, the detected position and the estimated position in a distinguishable manner within a storage unit, in correspondence with the vehicle,

wherein the first judging judges whether a size of the vehicle is greater than a predetermined size, based on a proportion of a number of estimated positions stored in the storage unit with respect to a sum of a number of the estimated positions and a number of the detected positions stored in the storage unit in correspondence with the vehicle.

9. The traffic flow measuring method as claimed in claim 7, wherein the first judging tracks a traveling locus of the vehicle, computes a vehicle detection rate Dr from Dr=(K/Pa)×

100, and judges that the size of the vehicle is greater than or equal to a predetermined size when the vehicle detection rate Dr exceeds a threshold value, where K denotes a count value of a number of times the vehicle is counted at an actual sample position within a detection range DR defined by a first detection boundary B1 and a second detection boundary B2 that are perpendicular to lanes, and Pa denotes a number of traveling loci of vehicles tracked within the detection range DR.

10. The traffic flow measuring method as claimed in claim 7, wherein the first judging computes a vehicle detection rate Dr from Dr=(K/P)×

100, and judges that the size of the vehicle is greater than or equal to a predetermined size when the vehicle detection rate Dr exceeds a threshold value, where K denotes a count value of a number of times the vehicle is detected at an actual sample position within a detection range DR defined by a first detection boundary B1 and a second detection boundary B2 that are perpendicular to lanes, and P denotes a parameter represented by a formula P={|B1m−

B2m|/V}×

W, where B1nn denotes a horizontal distance from the radar apparatus to the detection boundary B1, B2m denotes a horizontal distance from the radar apparatus to the detection boundary B2, W denotes a number of times a measurement is made per unit time, and V denotes a velocity of the vehicle within the detection range DR.

11. The traffic flow measuring method as claimed in claim 10, wherein the first judging includes

counting, by the processor, a number of vehicles passing a judging position perpendicular to the lanes,

tracking, by the processor, a traveling locus of each vehicle, and

second judging, by the processor, a lane, having known coordinates, on which each vehicle is located at a point in time when each vehicle passes the judging position.

12. The traffic flow measuring method as claimed in claim 11, wherein the first judging counts the number of vehicles by the counting and judges the size of the vehicle, for each lane judged by the second judging.

13. A non-transitory computer-readable storage medium having stored therein a program for causing a computer to execute a process comprising:

transmitting a transmission wave from a radar apparatus and receiving a reflected wave from a vehicle with respect to the transmission wave; and

judging a size of the vehicle depending on a number of times the reflected wave from the vehicle is detected within a detection time, wherein the detection time is set according to the detected reflected wave.

14. The non-transitory computer-readable storage medium as claimed in claim 13, wherein the process further comprises:

estimating an estimated position where the vehicle is likely to be detected after a predetermined time, based on a detected position of the vehicle detected from the reflected wave from the vehicle with respect to the transmission wave; and

storing the detected position and the estimated position in a distinguishable manner within a storage unit, in correspondence with the vehicle,

wherein the judging judges whether a size of the vehicle is greater than a predetermined size, based on a proportion of a number of estimated positions stored in the storage unit with respect to a sum of a number of the estimated positions and a number of the detected positions stored in the storage unit in correspondence with the vehicle.

15. The non-transitory computer-readable storage medium as claimed in claim 13, wherein the judging tracks a traveling locus of the vehicle, computes a vehicle detection rate Dr from Dr=(K/Pa)×

100, and judges that the size of the vehicle is greater than or equal to a predetermined size when the vehicle detection rate Dr exceeds a threshold value, where K denotes a count value of a number of times the vehicle is counted at an actual sample position within a detection range DR defined by a first detection boundary B1 and a second detection boundary B2 that are perpendicular to lanes, and Pa denotes a number of traveling loci of vehicles tracked within the detection range DR.

16. The non-transitory computer-readable storage medium as claimed in claim 13, wherein the judging computes a vehicle detection rate Dr from Dr=(K/P)×

100, and judges that the size of the vehicle is greater than or equal to a predetermined size when the vehicle detection rate Dr exceeds a threshold value, where K denotes a count value of a number of times the vehicle is detected at an actual sample position within a detection range DR defined by a first detection boundary B1 and a second detection boundary B2 that are perpendicular to lanes, and P denotes a parameter represented by a formula P={|B1m−

B2m|/V}×

W, where B1nn denotes a horizontal distance from the radar apparatus to the detection boundary B1, B2m denotes a horizontal distance from the radar apparatus to the detection boundary B2, W denotes a number of times a measurement is made per unit time, and V denotes a velocity of the vehicle within the detection range DR.

17. The non-transitory computer-readable storage medium as claimed in claim 16, wherein the judging includes

counting a number of vehicles passing a judging position perpendicular to the lanes, and

tracking a traveling locus of each vehicle, and judging a lane, having known coordinates, on which each vehicle is located at a point in time when each vehicle passes the judging position.

18. The non-transitory computer-readable storage medium as claimed in claim 17, wherein the judging counts the number of vehicles by the counting and judges the size of the vehicle, for each lane judged by the judging the lane.

20. The non-transitory computer-readable storage medium as claimed in claim 13, wherein the process further comprises:

counting a number of vehicles passing a judging position on a lane according to the size of the vehicle judged by the judging.