JP2006007940A - Calibration method of radar device, radar device, monitoring system, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simply and inexpensively perform calibration work in a brief period of time without performing operation regulation of train or traffic regulation of road on a traffic road of an object to be monitored. <P>SOLUTION: When installing a plurality of radar devices 10 monitoring a railroad crossing 51 where the railroad 50 and the road are intersected, the position of the railroad 50 is recognized by actually measuring a moving trajectory of the trains 52 traveling on the railroad 50 with the individual radar devices 10, and the calibration processing generating a conversion matrix 71 to convert the measurement data of the obstacle measured by a local coordinate system 10a of the radar device 10 into a traffic road coordinate system 50a of the side of the railroad 50 is autonomously performed in the interior of the individual radar devices 10. The calibration work can be simply and inexpensively performed in the brief period of time without requiring operation regulation of the railroad 50 to place the target of the reflector etc for calibration in the railroad crossing 51, or without increasing man-hour or period of time for calibration work even if the number of installations of the radar devices is increased. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a radar apparatus calibration method, a radar apparatus, a monitoring system, and a program, and more particularly, a radar that is installed in a traffic road such as a railroad or a road and monitors an obstacle or the like by measuring a distance to an object. The present invention relates to a technique that is effective when applied to a calibration technique of an apparatus.

  For example, it is important from the viewpoint of preventing accidents to monitor obstacles on railway crossings and traffic roads such as roads. For this reason, conventionally, as in Patent Document 1, for example, a radar is installed in the vicinity of a traffic road, an obstacle on the traffic road is detected by this radar, and the information is provided to the train / vehicle / manager. By doing so, accidents are being reduced.

  In such a radar device that detects obstacles on a traffic road, it is necessary to calibrate the installation direction, installation position, etc. with respect to the traffic road to be monitored in order to accurately detect the presence and position of the obstacle. It is.

  That is, in order to detect an obstacle, a conversion matrix for converting coordinates between both coordinates in order to convert local coordinates in the radar device into map coordinates of a traffic crossing such as a crossing to be monitored or a road. It is necessary to perform calibration work to find out. The installation position of the radar device can be obtained by surveying or the like without activating the sensor (obstacle detection function) of the radar device itself. However, the installation direction is difficult to obtain unless the sensor is activated. Further, unlike the image monitoring apparatus, the radar apparatus cannot be calibrated without a reflecting object.

  In the past, it was necessary to calibrate by installing a target object such as a reflector at a specific position in a crossing or a road to be monitored when the radar apparatus was installed. This calibration work requires a train operation regulation and a road traffic regulation because the operator enters the railroad crossing and the road after the radar equipment is installed. There was a problem that it was expensive. Further, when the number of installed radar devices is increased, it is necessary to repeat the above-described calibration work by the number of the radar devices, which requires a great amount of cost due to the man-hours required by the operator.

Patent Document 2 discloses noise countermeasures such as rain, fog, temperature, and background in a millimeter wave sensor, but the above-described problems in installation work are not recognized at all.
JP 2002-99986 A JP 2002-257927 A

  SUMMARY OF THE INVENTION An object of the present invention is to provide a radar device calibration technique that can perform calibration work in a short period of time, without any restrictions on train operation or road traffic on a monitored traffic path. There is.

  Another object of the present invention is that calibration work can be performed at low man-hours and at low cost without requiring complicated work such as placing a special target object for calibration on a traffic road. It is to provide a radar apparatus calibration technique.

  Another object of the present invention is to provide a radar apparatus calibration technique capable of performing calibration work at a low man-hour and at a low cost regardless of an increase in the number of installed radar apparatuses.

  A first aspect of the present invention is a method for calibrating a radar apparatus for monitoring a traffic route, wherein the radar device is based on an observation result of the position and / or locus of a moving body passing through the traffic route by the radar device. A radar apparatus calibration method for calibrating the installation direction and / or the installation position of an apparatus is provided.

  According to a second aspect of the present invention, there is provided a radar device for monitoring a traffic road, wherein the radar device is installed based on an observation result of the position and / or trajectory of the moving body passing through the traffic road by the radar device. A radar apparatus including a calibration function for calibrating a direction and / or an installation position is provided.

  According to a third aspect of the present invention, there is provided a monitoring system including a plurality of radar devices that monitor a traffic path and an integrated management device that integrates and manages the radar devices via an information network. The apparatus provides a monitoring system including a calibration function for calibrating the installation direction and / or installation position of the radar device based on the observation result by the radar device of the position and / or locus of the moving body passing through the traffic path. To do.

  A fourth aspect of the present invention is a monitoring system including a plurality of radar devices that monitor a traffic route and an integrated management device that integrates and manages the radar devices via an information network, the integrated management device Provides a monitoring system including a calibration function for calibrating the installation direction and / or installation position of the radar device based on the observation result of the position and / or locus of the moving body passing through the traffic path by the radar device. .

  According to a fifth aspect of the present invention, there is provided a program for controlling a computer provided in a radar apparatus for monitoring a traffic road, wherein the radar apparatus observes the position and / or trajectory of a moving body passing through the traffic road. Based on the above, a program for causing the computer to realize a function of calibrating the installation direction and / or the installation position of the radar device is provided.

  A moving body such as a train or a vehicle moves along a traffic route such as a railroad or a road. In the present invention, the position and trajectory of a train or vehicle is detected by a radar device to grasp the position information of the traffic road. With this information, the local coordinates of the radar device and the coordinates of the traffic road such as a railroad crossing or a road to be monitored are obtained. Calibration work to find a conversion matrix between

  As a result, it is not necessary to regulate train operation or road traffic for calibration work when the radar apparatus is installed, and cost, time required, and man-hours can be reduced. In addition, complicated work for arranging the target object, workers and the like are not required at all. Further, even when a large number of radar devices are installed, each radar device autonomously performs calibration work, so that the man-hours and costs associated with the calibration work do not increase.

  ADVANTAGE OF THE INVENTION According to this invention, the calibration technique of the radar apparatus which can be calibrated simply and at low cost for a short time, without performing the train operation regulation and road traffic regulation in the traffic route to be monitored is provided. be able to.

  In addition, a radar device calibration technique that can perform calibration work at low man-hours and at low cost without requiring complicated work such as placing a special target object for calibration on the traffic road. Can be provided.

  In addition, it is possible to provide a radar apparatus calibration technique capable of performing calibration work at a low man-hour and at a low cost regardless of an increase in the number of installed radar apparatuses.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
1 and 2 are conceptual diagrams showing an installation example of a monitoring system including a radar apparatus according to an embodiment of the present invention. FIG. 3 is an example of the overall configuration of the monitoring system according to an embodiment of the present invention. FIG. 4 is a conceptual diagram illustrating an example of the configuration of the radar apparatus according to the present embodiment, and FIG. 5 is a conceptual diagram illustrating an example of the configuration of the integrated management apparatus according to the present embodiment.

  As illustrated in FIG. 3, the monitoring system according to the present embodiment connects a plurality of radar devices 10 installed in a monitoring target, a plurality of integrated management devices 20 that integrate and manage these, and these. An information network 30 is included.

  For example, as illustrated in FIG. 1, the plurality of radar apparatuses 10 are configured such that the radar measurement range 10 b covers the railroad crossing 51 in the vicinity of the railroad crossing 51 in order to monitor the railroad crossing 51 where the railroad 50 intersects the road 60. For example, the vehicle 61 and the pedestrian 63 passing through the railroad crossing 51 are monitored so as not to obstruct the train 52 traveling on the railway 50.

  That is, in the example of FIG. 1, by installing the radar device 10, an obstacle in the level crossing 51 (for example, a pedestrian 63 who has fallen into the level crossing 51, a vehicle 61 that has stuck) or the road 60 Detect obstacles.

  In FIG. 1, each radar device 10 emits a beam at a wide angle to the radar measurement range 10 b, measures only the distance, and uses the distance information obtained from the plurality of radar devices 10 to triangulate the obstacles in the level crossing 51. The case of measuring the position of is illustrated. In this case, the installation direction of the radar apparatus 10 is the center direction of the beam emitted at a wide angle.

  On the other hand, in FIG. 2, one radar apparatus 10 is installed in the vicinity of the road 60, and a narrow-angle beam is emitted in the range of the radar measurement range 10 b. The case where the positions of vehicles 61, obstacles, etc. on the road 60 are measured by scanning in the arrangement direction is shown. In this case, the installation direction of the radar apparatus 10 is approximately the center direction of the scan range.

  By the way, when the radar apparatus 10 is installed on the site as shown in FIG. 1 or FIG. 2, conversion is performed to convert the local coordinate system 10 a unique to the radar apparatus 10 into a traffic route coordinate system 50 a unique to the installation environment including the railway 50. Although calibration work for obtaining the matrix 71 is necessary, in this embodiment, as will be described later, either the radar apparatus 10 or the integrated management apparatus 20 that integrates and manages the radar apparatus 10 can be used for the railway. This calibration process is performed autonomously by detecting the position of the train 52 traveling 50 or the position of the vehicle 61 traveling on the road 60.

  For this reason, as in the past, the operation of the train 52 on the railway 50 and the traffic regulation of the vehicle 61 on the road 60 are performed, and an operator places a target object such as a reflector in the level crossing 51 or the like. No complicated calibration work is required.

  As illustrated in FIG. 4, the radar apparatus 10 according to the present embodiment includes an antenna 11, an RF unit 12, and a transmission / reception circuit 13 for transmitting / receiving radar waves such as an MPU 15 and a millimeter wave that control the overall operation. And a digital signal processor (DSP) 14.

The MPU 15 is connected to a RAM 16, a ROM 17, a network interface 18, a calibration switch 19 and the like via a bus 15a.
The ROM 17 stores a control program for managing the entire radar apparatus 10 and a calibration program 17a for the MPU 15 to autonomously calibrate the own apparatus with respect to the installation environment. The MPU 15 executes these programs. By doing so, it is possible to perform autonomous calibration processing as described later in the radar apparatus 10.

  The RAM 16 is used as a work area for temporarily storing processing data and transmission / reception data in the operation of the MPU 15. The network interface 18 is connected to the information network 30 and controls exchange of commands and data with the integrated management apparatus 20.

  The antenna 11, the RF unit 12, the transmission / reception circuit 13, the DSP 14, and the MPU 15 are used, for example, using the technology disclosed in Japanese Patent Application Laid-Open No. 2002-257927 and Japanese Patent Application Laid-Open No. 2003-177178. By processing a millimeter wave transmission / reception signal transmitted / received by the antenna 11, information such as distance to each object such as an obstacle, relative speed and position, and received power is calculated and measured.

  That is, the radar apparatus 10 transmits a millimeter wave to an object to be measured such as the train 52 or the vehicle 61. In this case, a transmission signal subjected to triangular wave modulation is used to generate a beat signal (frequency) from the received signal. Then, each of the rising and falling sections of the transmission signal is converted into the frequency domain by Fourier transform, and the velocity V and the distance D of the measurement object are detected simultaneously.

  The detection processing method here is performed by pairing that adjusts the correspondence of the received power peak between the rising section and the falling section. As a noise countermeasure, in this pairing signal processing, long-term background data and short-term background data are observed, and frequency and power amplification factors are obtained from these long- and short-term background data. Amplifies the newly input data using, and generates a multi-value threshold using long-term background data, and performs threshold processing using this multi-value threshold Performs peak detection, performs labeling according to the frequency using the detected peak, obtains attributes such as the center of gravity frequency, center of gravity or average frequency, average direction of the label obtained by this labeling, and uses the center of gravity direction of the label Then, pairing is performed by searching for a corresponding label along the direction. Thereby, the position, speed, etc. of the train 52 and the vehicle 61 can be detected with high accuracy.

  The information such as the position of the object measured by the radar apparatus 10 in this way is based on the local coordinate system 10a unique to each radar apparatus 10, and the position information of the object such as an obstacle is A conversion matrix 71 for converting the road 60 into a traffic coordinate system 50a and a traffic coordinate system 60a (for example, a coordinate system on a map) is obtained by the calibration program 17a.

  Note that the detection distance of the radar apparatus 10 that detects an obstacle is about 200 m at most, and the road 60 such as a railway line, a main road, and a highway can be approximated to a straight line. Since the vehicle 61 and the train 52 travel along the track of the road 60 and the railroad 50, the travel locus is obtained, the direction of the antenna 11 (radar device 10) is obtained in the direction of the locus, and the local coordinate system of the radar device 10 is obtained. From 10a, the coordinates of the rail / road traffic road coordinate system 50a and the traffic road coordinate system 60a are calibrated.

  The start of the calibration process by the calibration program 17a in the radar apparatus 10 can be instructed by the operator by operating the calibration switch 19 at any time during installation. Further, as shown in the flowchart of FIG. 7 to be described later, the processing can be started periodically / irregularly by software during the processing of the control program and the calibration program 17a. It is also possible to issue a command to the radar apparatus 10 from the host integrated management apparatus 20 via the information network 30 to give an activation instruction.

  As illustrated in FIG. 5, the integrated management apparatus 20 of the present embodiment is configured by a computer, and is collected from the MPU 21 that controls the whole, the main memory 22 that stores programs and data to be executed by the MPU 21, and the radar apparatus 10. An external storage device 23 in which stored data is stored, a display 24, an input device 25 such as a keyboard, a network interface 26 connected to the information network 30, a portable medium drive 27, a bus 28 for interconnecting these, and the like. It is configured.

  The main memory 22 stores an operating system 41, a radar device control program 42 that operates on the operating system 41, and an integrated monitoring program 43.

  The radar device control program 42 and the integrated monitoring program 43 are stored and distributed in the portable medium 29, and are read out by loading the portable medium 29 into the portable medium drive 27 as necessary, and are stored in an external storage device. It is mounted via the main memory 22 or directly via the main memory 22 and executed.

  The radar apparatus control program 42 controls a plurality of subordinate radar apparatuses 10 via the information network 30 and collects observation information 31 as exemplified in FIG. 6 from each radar apparatus 10. When the integrated management device 20 performs calibration processing on individual radar devices 10 to be described later, the radar device control program 42 generates a conversion matrix 71 for each radar device 10.

  The integrated monitoring program 43 monitors / judges the status of the level crossing 51 or the like to be monitored based on the information collected from the plurality of radar devices 10 by the radar device control program 42, and the result is sent to the supervisor of the monitoring system, An operation of notifying the driver of the train 52 or the vehicle 61 is performed.

  As an example, the format illustrated in FIG. 6 is used for the observation information 31 transmitted from the radar apparatus 10 to the integrated management apparatus 20. The observation information 31 includes a start signal 32 indicating the start position of the observation information 31, an identifier 33 for identifying which radar device 10 has transmitted, a time stamp 34 indicating the observation time, and the data included in the observation information 31. It consists of a data number 35 indicating the number, a plurality of actually measured measurement data 36, and an end signal 37 indicating the end of the observation information 31.

  Each measurement data 36 includes information such as position information 36a, speed information 36b, and received power 36c regarding an object such as a detected obstacle. These measurement data 36 have been converted into values based on the traffic road coordinate system 50a and the traffic road coordinate system 60a when the calibration process is performed by the radar device 10. Further, when calibration processing is performed on the integrated management device 20 side, these measurement data 36 output from the radar device 10 remain values based on the local coordinate system 10a.

Hereinafter, an example of the calibration process of the radar apparatus 10 according to the present embodiment will be described with reference to the flowcharts of FIGS.
When the radar apparatus 10 installed in the vicinity of the railway 50 or road 60 to be monitored is activated when the power is turned on or the like (step 101), the operation of each part of the radar apparatus 10 is controlled by the control program stored in the ROM 17. A check is performed (step 102), and calibration processing of the installation position / installation direction of the radar apparatus 10 exemplified in the flowchart of FIG. 8 and the like described later is executed by the calibration program 17a (step 103).

  Thereafter, after other calibration processing such as temperature compensation is performed (step 104), measurement processing (step 105) and detection processing of the monitoring target region by transmitting and receiving millimeter waves from the antenna 11 to the radar measurement range 10b (step 105). Step 106) is performed, a process of outputting the detection result as observation information 31 to the higher-level integrated management apparatus 20 (Step 107) is performed, and Step 105 to Step 107 are repeated (Step 108).

  During operation, when a predetermined period, pressing of the calibration switch 19 at any time, or an instruction to start calibration processing by a command from the integrated management device 20 is detected in step 108, the process returns to step 102. Thus, the initialization process including the calibration process in step 103 is executed.

  FIG. 8 is a flowchart illustrating the process of step 103 in more detail. That is, in the autonomous calibration process in the radar apparatus 10, first, as the first process, the detection of the train 52 and the vehicle 61 by the radar apparatus 10 itself is performed (step 201).

  FIG. 9 shows an image in which the discrete vehicle positions 61a of the vehicle 61 collected as described above are plotted on one graph. Since the vehicle 61 travels along the road 60, the direction of the trajectory is parallel to the direction of the road. Since FIG. 2 assumes the case where the road 60 is monitored, there are many detection results of the vehicle position 61a of the vehicle 61 in the center of the lane 62, but there is also a vehicle 61 that is changing lanes. The vehicle 61 may be on the white line (the vehicle position 61a is detected). In the case of the train 52, since it is on the track, it is arranged on a straight line accurately.

  As a second process, a trajectory is extracted (step 202). In the case of the train 52 traveling on the railway 50, the straight line may be approximated by using the least squares method or the like at the vehicle detection position obtained because the trains 52 are arranged in a straight line along the track.

  On the other hand, when the road 60 is the monitoring target, it is necessary to exclude the vehicle detection result (vehicle position 61a) on the white line at the boundary of the lane 62, that is, data not on the straight line. For these, the Hough transform is used.

  The straight line expression is, for example, the following two expressions.

FIG. 10 shows an image of the Hough transform using the expression (1). Using a plurality of vehicle positions (x ₀ , y ₀ ) to (x _n , y _n ) obtained discretely, a plurality of straight lines represented by the equation (3) are drawn in the coefficient region.

The accumulation point in the coefficient region of these lines is (a ₀ , b ₀ ).
An image of Hough transform using equation (2) is shown in FIG. Using the obtained vehicle positions (x ₀ , y ₀ ) to (x _n , y _n ), plotting is performed for a plurality of curves represented by equation (4) in the coefficient region.

The accumulation point of these lines in the coefficient region is (θ ₀ , ρ ₀ ).
Finally, calibration parameters are extracted (step 203). A conversion coefficient of a position between the traffic road coordinate system 50a (traffic road coordinate system 60a) and the local coordinate system 10a is obtained from the installation position of the radar apparatus 10. That is, the difference (Δx, Δy) between the origin of the traffic path coordinate system 50a (traffic path coordinate system 60a) and the installation position of the radar apparatus 10 (the origin of the local coordinate system 10a) is the conversion coefficient.

The conversion coefficient of the installation direction of the radar apparatus 10 (the direction of the antenna 11) between the traffic path coordinate system 50a (traffic path coordinate system 60a) and the local coordinate system 10a is the integration point of the coefficient area in FIG. Obtained from θ ₀ . That is, θ ₀ represents the inclination of the local coordinate system 10a with respect to the traffic road coordinate system 50a (traffic road coordinate system 60a).

However, when the road 60 is a highway, there are a plurality of lanes 62, and a plurality of accumulation points are output in the coefficient region as shown in FIG. Therefore, the accumulation point is projected in the θ direction to obtain θ ₁ . In this case, θ ₁ represents the inclination of the local coordinate system 10a with respect to the traffic road coordinate system 50a (traffic road coordinate system 60a).

Therefore, if the transformation matrix 71 is configured based on the above-described difference (Δx, Δy) and θ ₀ or θ ₁ , the measured values of the radar device 10 obtained in the local coordinate system 10a are converted into the traffic road coordinate system 50a ( Calibration processing for accurately converting to the traffic coordinate system 60a) is possible.

  As described above, according to the present embodiment, the radar apparatus 10 measures the movement trajectory of the train 52 and the vehicle 61 on the traffic road such as the railway 50 and the road 60 to be monitored by the radar apparatus 10. A calibration operation for obtaining a conversion matrix 71 for accurately converting the measured values of the radar device 10 obtained in the local coordinate system 10a into the traffic road coordinate system 50a (traffic road coordinate system 60a) is performed inside the radar device 10. Done autonomously.

  For this reason, for example, there is no need to regulate the operation of the train 52 in the railway 50 to be monitored or the traffic regulation of the vehicle 61 on the road 60 in order to install and measure a reflector or the like for calibration work. The radar apparatus 10 can be calibrated at low cost and in a short time. As described above, in this embodiment, the conversion matrix is autonomously obtained as compared with the conventional method, which can contribute to cost reduction in the installation of the radar apparatus 10 and maintenance management work.

  In addition, it is possible to perform calibration work at low man-hours and at low cost because it does not require complicated work such as placing a special target object for calibration on a traffic road such as the railway 50 or the road 60. Become.

  Further, since the calibration work is autonomously performed by each radar device 10, even if the number of installed radar devices 10 is increased, the number of labor and time required for the calibration work are not increased, and the number of labor and cost can be reduced. Calibration work can be performed.

Needless to say, the present invention is not limited to the configuration exemplified in the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, the configurations of the radar apparatus 10 and the integrated management apparatus 20 are examples, and are not limited to the above-described embodiments.

  Further, the traffic route is not limited to the railroad 50, the road 60, and the like, and can be widely applied to obstacle detection on general traffic routes such as an article transportation track in a physical distribution process. Moreover, as a moving body used for calibration, a pedestrian 63 moving on the road 60 may be used, or an article moving on a transportation track may be used.

(Appendix 1)
A radar apparatus calibration method for monitoring a traffic path, wherein the radar apparatus is installed in the direction and / or position based on the observation result of the position and / or trajectory of the moving body passing through the traffic path by the radar apparatus. A method for calibrating a radar apparatus, wherein:

(Appendix 2)
The radar apparatus calibration method according to claim 1, wherein the moving position of the radar apparatus is approximated to a straight line by detecting the straight line by detecting the straight line. A method for calibrating a radar apparatus, wherein:

(Appendix 3)
The radar apparatus calibration method according to appendix 1, wherein the moving object trajectory is obtained by performing a Hough transform using a coefficient of a general straight line equation using a discrete position of the moving object passing through the traffic path. A radar apparatus calibration method comprising: calibrating the installation direction and / or position of the radar apparatus by detecting a straight line indicating

(Appendix 4)
The radar apparatus calibration method according to appendix 1, wherein the moving object is obtained by performing a Hough transform using a coefficient of a normal equation of a straight line represented by a trigonometric function using discrete positions of the moving object passing through the traffic path. A radar apparatus calibration method, wherein the installation direction and / or installation position of the radar apparatus is calibrated by detecting a straight line indicating the trajectory of the radar apparatus.

(Appendix 5)
A radar apparatus for monitoring a traffic path, wherein the installation direction and / or the installation position of the radar apparatus is calibrated based on the observation result of the position and / or trajectory of the moving body passing through the traffic path by the radar apparatus. A radar apparatus including a calibration function.

(Appendix 6)
A monitoring system including a plurality of radar devices that monitor a traffic path and an integrated management device that integrates and manages the radar devices via an information network,
Each of the radar devices includes a calibration function for calibrating the installation direction and / or the installation position of the radar device based on the observation result of the position and / or locus of the moving body passing through the traffic path by the radar device. A monitoring system characterized by that.

(Appendix 7)
A monitoring system including a plurality of radar devices that monitor a traffic path and an integrated management device that integrates and manages the radar devices via an information network,
The integrated management device includes a calibration function for calibrating the installation direction and / or installation position of the radar device based on the observation result of the position and / or trajectory of the moving body passing through the traffic path by the radar device. A monitoring system characterized by

(Appendix 8)
A program for controlling a computer provided in a radar device for monitoring a traffic path,
A function of calibrating the installation direction and / or installation position of the radar device based on the observation result of the position and / or locus of the moving body passing through the traffic path by the radar device is provided. Program to do.

(Appendix 9)
A program for controlling a computer constituting the integrated management device in a monitoring system including a plurality of radar devices that monitor a traffic path and an integrated management device that integrates and manages the radar devices via an information network. ,
A function of calibrating the installation direction and / or installation position of the radar device based on the observation result by the radar device of the position and / or trajectory of the moving body passing through the traffic path is realized by the computer. Program to do.

It is a conceptual diagram which shows the example of installation of the monitoring system containing the radar apparatus which is one embodiment of this invention. It is a conceptual diagram which shows the example of installation of the monitoring system containing the radar apparatus which is one embodiment of this invention. It is a conceptual diagram which shows an example of the whole structure of the monitoring system which is one embodiment of this invention. It is a conceptual diagram which shows an example of a structure of the radar apparatus which is one embodiment of this invention. It is a conceptual diagram which shows an example of a structure of the integrated management apparatus which is one embodiment of this invention. It is a conceptual diagram which shows the example of a format of the observation information output from the radar apparatus which is one embodiment of this invention. It is a flowchart which shows an example of an effect | action of the radar apparatus which is one embodiment of this invention. It is a conceptual diagram which shows an example of the effect | action of the calibration process of the radar apparatus which is one embodiment of this invention. It is a conceptual diagram which shows an example of the effect | action of the calibration process of the radar apparatus which is one embodiment of this invention. It is a diagram which shows an example of the effect | action of the calibration process of the radar apparatus which is one embodiment of this invention. It is a diagram which shows an example of the effect | action of the calibration process of the radar apparatus which is one embodiment of this invention. It is a diagram which shows an example of the effect | action of the calibration process of the radar apparatus which is one embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Radar apparatus 10a Local coordinate system 10b Radar measurement range 11 Antenna 12 RF unit 13 Transmission / reception circuit 14 DSP
15 MPU
15a bus 16 RAM
17 ROM
17a Calibration program 18 Network interface 19 Calibration switch 20 Integrated management device 21 MPU
22 Main memory 23 External storage device 24 Display 25 Input device 26 Network interface 27 Portable medium drive 28 Bus 30 Information network 31 Observation information 32 Start signal 33 Identifier 34 Time stamp 35 Number of data 36 Measurement data 36a Position information 36b Speed information 36c Reception Electric power 37 End signal 41 Operating system 42 Radar device control program 43 Integrated monitoring program 50 Railway 50a Traffic road coordinate system 51 Railroad crossing 52 Train 60 Road 60a Traffic road coordinate system 61 Vehicle 61a Vehicle position 62 Lane 63 Pedestrian 71 Conversion matrix

Claims (5)

  A radar apparatus calibration method for monitoring a traffic path, wherein the radar apparatus is installed in the direction and / or position based on the observation result of the position and / or trajectory of the moving body passing through the traffic path by the radar apparatus. A method for calibrating a radar apparatus, wherein:   A radar apparatus for monitoring a traffic path, wherein the installation direction and / or the installation position of the radar apparatus is calibrated based on the observation result of the position and / or trajectory of the moving body passing through the traffic path by the radar apparatus. A radar apparatus including a calibration function.   A monitoring system including a plurality of radar devices that monitor a traffic route and an integrated management device that integrates and manages the radar device via an information network, wherein each of the radar devices passes through the traffic route. A monitoring system comprising a calibration function for calibrating an installation direction and / or an installation position of a radar device based on an observation result of the position and / or locus of a moving body by the radar device.   A monitoring system including a plurality of radar devices that monitor a traffic route and an integrated management device that integrates and manages the radar device via an information network, wherein the integrated management device moves along the traffic route A monitoring system comprising a calibration function for calibrating an installation direction and / or an installation position of a radar device based on an observation result of a body position and / or trajectory by the radar device.   A program for controlling a computer provided in a radar device for monitoring a traffic road, wherein the radar device is installed based on an observation result of the position and / or locus of a moving body passing through the traffic road by the radar device. A program for causing the computer to realize a function of calibrating a direction and / or an installation position.

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