WO2022185922A1 - 交通監視装置、交通監視システム、交通監視方法及びプログラム - Google Patents
交通監視装置、交通監視システム、交通監視方法及びプログラム Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
Definitions
- the present invention relates to a traffic monitoring device, a traffic monitoring system, a traffic monitoring method and a program.
- Patent Document 1 the technology described in Patent Document 1 performs reverse-running vehicle detection processing when it is determined that there is no traffic congestion.
- the present invention has been made in view of the above circumstances, and aims to provide a traffic monitoring device, a traffic monitoring system, a traffic monitoring method, and a program capable of accurately grasping road traffic conditions.
- the traffic monitoring device comprises: head position detection means for detecting the head position of traffic congestion on the road; an output means for outputting congestion information according to a predetermined criterion when the movement of the detected head position satisfies the criterion.
- a traffic monitoring system comprises: the above traffic monitoring device; an optical fiber laid on the road and having one end subjected to a termination treatment that suppresses reflection of an optical signal; a sensing device for inputting an optical signal into the optical fiber and observing a change in optical interference intensity, which is the intensity of light in which the backscattered lights generated along with the input of the optical signal interfere with each other;
- the head position detection means obtains a vehicle position on the road based on the amount of change in the optical interference intensity observed by the sensing device, and detects the head position of the congestion on the road based on the vehicle position. To detect.
- a traffic monitoring method comprises: the computer Detecting the head position of traffic congestion on the road; and outputting an output according to a predetermined criterion if the detected movement of the head position satisfies the criterion.
- a program according to a fourth aspect of the present invention is for causing a computer to function as the traffic monitoring device.
- FIG. 10 is a diagram showing a second example of history information according to one embodiment; This is an example of history information showing the second example of the history information shown in FIG. 3 in a wider range of positions and times than in FIG.
- FIG. 10 shows the functional structure of the traffic monitoring apparatus which concerns on one embodiment of this invention.
- FIG. 10 shows an example of the congestion pattern information which concerns on one Embodiment.
- FIG. 4 is a diagram showing a functional configuration of an output unit according to one embodiment;
- FIG. It is a figure which shows an example of the reference
- It is a figure showing an example of physical composition of a traffic monitoring device concerning one embodiment of the present invention.
- It is a flow chart which shows an example of traffic surveillance processing concerning one embodiment of the present invention.
- FIG. 11 is a flow chart showing an example of a head position detection processing step S101 shown in FIG. 10;
- FIG. FIG. 11 is a flow chart showing an example of an output processing step S102 shown in FIG. 10;
- a traffic monitoring system 100 is a system for monitoring traffic of vehicles 101 traveling on a road R using optical fiber sensing technology, as shown in FIG.
- a road R shown in FIG. 1 is a road for going up and includes a travel lane TL and an overtaking lane OL.
- the vehicle 101 is an automobile, a two-wheeled vehicle, a bus, a truck, or the like.
- road R is typically a highway, it may be another general road. Also, the number of lanes included in the road R is not limited to two, and may be one or more.
- the traffic monitoring system 100 includes an optical fiber OF, a sensing device 102, and a traffic monitoring device 103.
- the optical fiber OF is an optical fiber cable laid on the road R.
- the optical fiber OF is, for example, one core of a multi-core optical fiber cable for communication generally laid on the road shoulder or the median strip of a highway, and the sensing device 102 is connected to one end, The other end is terminated to suppress reflection of optical signals.
- a plurality of fiber cables of the multicore optical fiber cable may be employed as the optical fiber OF for optical fiber sensing.
- the sensing device 102 inputs an optical signal into the optical fiber OF, and observes the amount of change in the intensity of optical interference, which is the intensity of light caused by interference between backscattered lights caused by the input of the optical signal.
- the sensing device 102 receives an optical signal having a pulse waveform from one end of the optical fiber OF.
- weak returning light called backscattered light is generated from all positions of the optical fiber OF.
- the sensing device 102 observes the backscattered light.
- the structure and characteristic parameters of the silica glass forming the optical fiber change with the environmental change, and the signal quality of the backscattered light from the location where the change occurs also changes. .
- the phase state of the backscattered light changes.
- a change in the phase state of this backscattered light is observed as a change in light intensity due to interference with other backscattered light received at the same time. That is, the sensing device 102 inputs an optical signal to the optical fiber OF and observes the amount of change in optical interference intensity caused by application of vibration.
- the location of the vibration can be determined based on the amount of change in the intensity of the optical interference, and is calculated from the round-trip time from the input of the optical signal to the observation of the backscattered light, and the propagation speed of the optical signal.
- the optical signal is repeatedly input at a constant frequency so that the backscattered light from the other end of the optical fiber OF (that is, the farthest end as viewed from the sensing device 102) does not mix with the next input optical signal. be.
- changes in environmental changes such as vibration occurring around the optical fiber OF can be accurately observed in real time.
- optical fiber sensing is a technology that uses an optical fiber OF as a sensing medium to detect the location of vibration.
- a general optical fiber OF which is a transmission medium for communication data, can be used as a linear passive sensor, so it is possible to obtain a bird's-eye view of the traffic situation in a wide area without installing a new sensor. can be grasped in real time.
- the traffic monitoring device 103 repeatedly acquires observation information including the location of vibration on the road R from the sensing device 102 .
- the place where the vibration is generated corresponds to the position of the vehicle 101 on the road R (vehicle position). Therefore, the observation information includes position information indicating the vehicle position.
- the traffic monitoring device 103 obtains the vehicle position history (that is, changes in the vehicle position over time) DH based on the position information repeatedly obtained from the sensing device 102 . Then, the traffic monitoring device 103 detects congestion that has occurred on the road R based on the vehicle position history DH. The traffic monitoring device 103 further outputs congestion information including the occurrence of congestion and its cause to a predetermined device based on the detected movement of the head position of the congestion.
- causes of traffic congestion are reverse-running vehicles, low-speed vehicles, and others (for example, accidents).
- FIG. 1 also shows a first example of history information 105a_1 according to the present embodiment.
- the history information 105a_1 indicates the vehicle position history DH of each vehicle 101 traveling on the road R when an accident occurs at the position X at time T10.
- the history information 105a_1 is represented by the relationship between the vehicle position on the road R and time.
- a solid line in which the horizontal axis represents the position on the road R and the vertical axis represents time represents the vehicle position history DH of each vehicle 101 traveling on the road R.
- the history information 105a_1 is a chronological history of the vehicle positions of the vehicles 101 that were traveling downstream of the accident location X1 at T10 when the accident occurred, until the vehicles 101 traveled at low speed and stopped. change. For example, the vehicle that was leading at T10 when the accident occurred starts running at low speed at time T10 and stops at position FP10.
- Low-speed driving means driving at a predetermined speed (eg, 40 km/h) or less.
- FIG. 2 is an example of history information 105a_2 showing the first example of history information 105a_1 shown in FIG. 1 in a wider range of positions and times than in FIG.
- the dotted line L11 shown in FIGS. 1 and 2 is an example of the low-speed driving start line when an accident occurs.
- the low-speed driving start line is an approximate line that connects the low-speed driving start points of each vehicle 101 traveling on the road R. Further, the low-speed running start point is a point specified by the time when the vehicle 101 started running at low speed and the vehicle position at that time in the diagram including the history DH.
- a dotted frame FR11 shown in FIG. 2 is a frame that indicates an area corresponding to the definition of congestion.
- a traffic jam may be defined as appropriate, but is defined, for example, as a state in which a predetermined number or more of vehicles traveling at a reference speed or less (for example, 40 km/h or less) are present within a predetermined time ⁇ T and within a predetermined distance ⁇ D.
- a predetermined number or more of vehicles traveling at a reference speed or less for example, 40 km/h or less
- ⁇ T a predetermined time
- ⁇ D a predetermined distance
- the predetermined time ⁇ T corresponds to the vertical length of the frame FR11.
- the predetermined distance ⁇ D corresponds to the horizontal length of the frame FR11.
- Traffic congestion occurs when there are 10 or more records DH (the number corresponding to the predetermined number of vehicles) within the area of the frame FR11 indicating that the vehicle travels at a speed equal to or lower than the reference speed or stops.
- the history DH within the area of the frame FR11 is the history DH from the upper side to the lower side.
- time T12 and time T13 The time difference between time T12 and time T13 is assumed to be a predetermined time ⁇ T.
- time T13 the number of history records DH indicating running or stopping at a reference speed or less from the upper side to the lower side of the frame FR11 becomes ten for the first time after time T10. That is, time T13 is the time when congestion is detected for the first time after time T10.
- Time T14 is the time when the restoration work for the accident was completed. Therefore, after time T14, the vehicles 101 start running in order.
- the dotted line L12 is an example of the leading line of traffic congestion due to accidents.
- a traffic jam top line is an approximation line that connects the top positions of traffic jams.
- the leading line of traffic jam due to an accident is constant at position FP10 between times T10 and T14. Then, after time T14, it moves in the direction opposite to the running direction.
- the top position of the traffic jam hardly moves beyond a certain amount of time. That is, in a general traffic jam, the head position of the traffic jam is within a predetermined range for a predetermined time TTH or longer after the traffic jam is detected.
- FIG. 3 shows a second example of the history information 105b_1 according to this embodiment.
- the history information 105b_1 indicates the vehicle position history DH of each vehicle 101 traveling on the road R when the wrong-way vehicle 106 is traveling on the road R.
- FIG. The reverse running vehicle 106 is a vehicle that runs on the road R in the reverse direction.
- the history information 105b_1 includes the vehicle history of each vehicle 101, which has been traveling downstream from the reverse-running vehicle 106, after the vehicle 101 rapidly decelerates and travels at a low speed, and then travels at an extremely slow speed. Shows the change in position over time. For example, the leading vehicle that finds the wrong-way vehicle 106 decelerates rapidly and travels at a low speed at time T20, and then travels at an extremely slow speed to indicate that it is at position FP2 at time T21.
- FIG. 4 is an example of history information 105b_2 showing the first example of history information 105b_1 shown in FIG. 3 in a wider range of positions and times than in FIG.
- the dotted line L21 shown in FIGS. 3 and 4 is an example of a low-speed running start line when the wrong-way vehicle 106 is running.
- a dotted line RH is the travel history of the wrong-way vehicle 106 .
- time T23 is assumed to be a predetermined time ⁇ T.
- the number of history records DH indicating traveling at a reference speed or less from the upper side to the lower side of the frame FR21 becomes 10 for the first time after time T20. That is, time T23 is the time when congestion is detected for the first time after time T20.
- Time T24 is when the leading vehicle traveling in the direction of travel on road R accelerates after passing the wrong-way vehicle 106 and travels at high speed.
- High-speed running is running at a faster speed than low-speed running.
- a dotted line L22 is an example of the leading line of congestion when the wrong-way vehicle 106 is running.
- the top position of the congestion at time T23 is position FP20.
- the vehicle 101 which has been leading up to that time, runs at high speed and exits the traffic jam, so the leading position of the traffic jam becomes position FP21.
- the vehicle 101 which has been in the lead up to that point, moves to position FP22 and moves out of the traffic jam.
- the congestion continues, and the top position is position FP23.
- the leading position of the traffic in a traffic jam caused by the wrong-way vehicle 106, the leading position of the traffic seldom stays at a fixed position, but rather moves in the direction opposite to the traveling direction of the road R at a certain speed. That is, in a traffic jam caused by a wrong-way vehicle, the leading position of the traffic jam moves in the direction opposite to the traveling direction of the road R within a time period shorter than the predetermined time TTH after the traffic jam is detected. In this case, the moving speed of the leading position of the traffic jam is faster than the predetermined first threshold.
- congestion may also be caused by, for example, low-speed vehicles.
- a low-speed vehicle is a vehicle whose speed is slower than an appropriately determined speed, such as a road cleaning vehicle or a general vehicle 101 .
- the head position of the traffic congestion moves in the direction of travel of road R within a time period shorter than the predetermined time TTH after the traffic congestion is detected.
- the moving speed of the leading position of the traffic jam is slower than the predetermined second threshold.
- Traffic monitoring device 103 includes input section 110 , leading position detection section 112 , and output section 114 .
- the input unit 110 is a keyboard, mouse, touch panel, etc. for the user to input instructions.
- the leading position detection unit 112 acquires the vehicle position on the road R from the sensing device 102, and detects the leading position of traffic congestion on the road R based on the vehicle position.
- the start position detection unit 112 includes a position history generation unit 112a and a start detection unit 112b.
- the position history generation unit 112a acquires the vehicle position on the road R, and generates history information 105 indicating the history DH of the vehicle position of the vehicle 101 on the road R based on the vehicle position.
- the history information 105 is a general term for the history information 105a_1, 105a_2, 105b_1, 105b_2 described above.
- the leading detection unit 112b detects the leading position of traffic congestion occurring on the road R based on the vehicle position history DH.
- the position history generation unit 112a includes a vehicle position acquisition unit 112a_1, a history generation unit 112a_2, and a first learning model storage unit 112a_3.
- the vehicle position acquisition unit 112a_1 acquires position information on the road R from the sensing device 102 based on optical fiber sensing using the optical fiber OF laid on the road R.
- the vehicle position acquisition unit 112a_1 repeatedly acquires from the sensing device 102 the position information on the road R obtained based on the amount of change in the optical interference intensity observed by the sensing device 102.
- position information is obtained based on optical fiber sensing
- location information may be acquired based on probe information of ETC (Electronic Toll Collection System) 2.0 or the like.
- the history generation unit 112a_2 generates history information 105 indicating changes over time in the vehicle position on the road R from the past to the present, based on the position information acquired by the vehicle position acquisition unit 112a_1.
- the position information is included in the observation information obtained based on the optical signal input at a certain frequency. Therefore, the position information repeatedly obtained by the position obtaining unit 106 indicates discrete vehicle positions at relatively short time intervals.
- the history generation unit 112a_2 receives discrete vehicle positions as input and generates history information 105 according to the first learning model.
- the historical information 105 continuously indicates changes in vehicle position over time, as indicated by line DH in FIGS.
- history generation unit 112a_2 may generate history information indicating the obtained approximated curve, approximated straight line, or a combination thereof by obtaining an approximated curve, approximated straight line, or a combination thereof of discrete vehicle positions. .
- the first learning model storage unit 112a_3 is a storage unit for pre-storing the first learning model referred to by the history generation unit 112a_2.
- the first learning model is a learned model that has been machine-learned to generate the history information 105 using the position information included in the observation information from the sensing device 102 as an input. It is preferable that supervised learning is adopted for the learning of the first learning model.
- the teacher data in this case is preferably created based on the probe information of the vehicle 101 that actually traveled, the in-vehicle camera, and the like.
- leading detection unit 112b detects the leading position of traffic congestion on the road R based on the history information 105 generated by the position history generating unit 112a.
- the head detection unit 112b includes a congestion pattern storage unit 112b_1, a congestion detection unit 112b_2, and a head identification unit 112b_3.
- the congestion pattern storage unit 112b_1 is a storage unit that stores congestion pattern information 121 indicating congestion patterns.
- a traffic jam pattern is a pattern of the vehicle position history DH on the road R when traffic jam occurs.
- a congestion pattern is determined according to the definition adopted by the traffic monitoring device 103 .
- FIG. 6 shows an example of traffic congestion pattern information 121 according to the present embodiment.
- traffic congestion is defined as a state in which there are a predetermined number or more of vehicles within a predetermined time ⁇ T and within a predetermined distance ⁇ D. It is also assumed that the predetermined number is ten.
- the vehicle having a speed equal to or lower than the reference speed includes a vehicle that has stopped, and includes, for example, a vehicle that repeatedly stops and starts such that the average speed is equal to or lower than the reference speed.
- the congestion pattern information 121 shown in FIG. 6 is an example including a congestion pattern according to this definition.
- the length of the frame FR in the vertical direction is a predetermined time ⁇ T
- the length of the frame FR in the horizontal direction is a predetermined distance ⁇ D.
- the frame FR there are 10 or more vehicle position histories DH indicating that the speed is equal to or less than the reference speed.
- the above-described frames FR11, FR21, and FR22 are examples in which the frames FR included in the congestion pattern information 121 shown in FIG. 6 are applied.
- the speed (for example, Km/Hour) of the vehicle 101 is a value obtained by dividing the travel distance by the time required to travel the travel distance, so it appears in the slope of the vehicle position history DH.
- the fact that the vehicle position history DH is in the frame FR means that the upper and lower ends of the vehicle position history DH intersect the upper and lower sides of the frame FR, respectively, instead of the left and right sides.
- the congestion detection unit 112b_2 detects congestion on the road R based on the history DH of the vehicle position indicated by the history information 105 generated by the location history generation unit 112a and the congestion pattern indicated by the congestion pattern information 121.
- the traffic congestion detection unit 112b_2 detects traffic congestion on the road R, for example, by collating (for example, pattern matching) the history DH of the vehicle position and the traffic congestion pattern.
- the head identification unit 112b_3 identifies the head position of the traffic jam when the traffic jam detection unit 112b_2 detects the traffic jam.
- a traffic jam is detected by collating (for example, pattern matching) the history DH of the vehicle position up to the present time with the traffic congestion pattern, and as a result of the collation, the history DH and the traffic congestion pattern match to a predetermined extent. , to detect traffic jams.
- the head position of the traffic jam is identified as the vehicle position of the vehicle 101 that is positioned furthest forward in the traveling direction (to the right in the history DH of FIGS. 1 to 4) in the region matching the traffic congestion pattern in the history DH. .
- the output unit 114 outputs congestion information according to the criteria when the movement of the leading position of the congestion detected by the leading position detection unit 112 satisfies a predetermined criterion.
- the output unit 114 includes a feature detection unit 114_a1, a reference storage unit 114_a2, a determination unit 114_a3, and a determination result output unit 114_a4.
- the feature detection unit 114_a1 detects the feature of the movement of the leading position of traffic jam based on the history DH of the vehicle positions where the leading position detecting unit 112 detected traffic congestion.
- the characteristics of this movement include direction of movement and speed of movement.
- the reference storage unit 114_a2 is a storage unit that stores reference information 124 for estimating the cause of traffic congestion.
- Criterion information 124 includes one or more predetermined criteria related to the movement of the leading position of the traffic jam.
- FIG. 8 shows an example of the reference information 124 according to this embodiment.
- the reference information 124 includes a first reference and a second reference.
- the reference information 124 may include at least one reference for estimating the cause of congestion.
- the first criterion is a criterion for estimating the traffic congestion caused by the wrong-way vehicle 106.
- the moving direction includes a direction opposite to the traveling direction of the road R, and the moving speed includes a predetermined first Including faster than threshold.
- the second criterion is a criterion for estimating traffic congestion due to low-speed vehicles, and the moving direction includes the traveling direction of the road R, and the moving speed is slower than a predetermined second threshold. including.
- the determination unit 114_a3 determines the cause of traffic congestion based on the characteristics of the head position movement detected by the characteristic detection unit 114_a1 and the reference information 124 stored in the reference storage unit 114_a2.
- the determination unit 114_a3 determines that the wrong-way vehicle 106 is the cause of the traffic jam when the movement characteristics satisfy the first criteria.
- the determination unit 114_a3 determines that the traffic jam is caused by a low-speed vehicle when the movement characteristics satisfy the second criterion.
- the determining unit 114_a3 determines that the cause of the congestion is unknown when the movement characteristics do not satisfy the first and second criteria.
- the determination result output unit 114_a4 outputs congestion information according to the determination result of the determination unit 114_a3.
- the determination result output unit 114_a4 outputs the first congestion information when the determination unit 114_a3 determines that the wrong-way vehicle 106 is the cause of the congestion.
- the first traffic congestion information is information indicating that traffic congestion caused by the wrong-way vehicle 106 is occurring.
- the determination result output unit 114_a4 outputs the second congestion information when the determination unit 114_a3 determines that the cause of the congestion is a low-speed vehicle.
- the second traffic congestion information is information indicating that traffic congestion caused by low-speed vehicles is occurring.
- the determination result output unit 114_a4 outputs third congestion information when the determination unit 114_a3 determines that the cause of the congestion is unknown.
- the third traffic jam information is information indicating that a traffic jam of unknown cause is occurring.
- the determination result output unit 114_a4 may output congestion information indicating that there is no congestion when the congestion detection unit 112b_2 does not detect congestion.
- the output destination of the congestion information from the determination result output unit 114_a4 may be a display unit provided in the traffic monitoring device 103, an operation control device mounted in the vehicle 101, or a predetermined server or the like. It may be an information processing device. When output to the operation control device, the traffic congestion information may be displayed on the display unit of the vehicle 101, and may be used for automatic driving of the vehicle 101 and communication between the vehicles 101 traveling on the road R. .
- the traffic monitoring device 103 physically has a bus 1010, a processor 1020, a memory 1030, a storage device 1040, a network interface 1050, and a user interface 1060, as shown in FIG.
- the bus 1010 is a data transmission path through which the processor 1020, memory 1030, storage device 1040, network interface 1050, and user interface 1060 mutually transmit and receive data.
- the method of connecting processors 1020 and the like to each other is not limited to bus connection.
- the processor 1020 is a processor realized by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like.
- the memory 1030 is a main memory implemented by RAM (Random Access Memory) or the like.
- the storage device 1040 is an auxiliary storage device realized by a HDD (Hard Disk Drive), SSD (Solid State Drive), memory card, ROM (Read Only Memory), or the like.
- HDD Hard Disk Drive
- SSD Solid State Drive
- ROM Read Only Memory
- the storage device 1040 realizes the function of storing the storage units (first learning model storage unit 112a_3, traffic congestion pattern storage unit 112b_1, reference storage unit 114_a2) of the traffic monitoring device 102 and information.
- the storage device 1040 includes each functional unit of the traffic monitoring device 102 (head position detection unit 112 (position history generation unit 112a (vehicle position acquisition unit 112a_1, history generation unit 112a_2), head detection unit 112b (traffic congestion detection unit 112b_2, It stores program modules for realizing the head identification unit 112b_3)) and the output unit 114 (feature detection unit 114_a1, determination unit 114_a3, determination result output unit 114_a4)).
- the processor 1020 loads each program module into the memory 1030 and executes it, thereby realizing each functional unit corresponding to the program module.
- the network interface 1050 is an interface for connecting the traffic monitoring device 102 to a network configured by wire, wireless, or a combination thereof.
- Traffic monitoring device 102 according to the present embodiment communicates with sensing device 102 and the like by being connected to a network through network interface 1050 . Further, traffic monitoring device 102 according to the present embodiment is connected to a network through network interface 1050, thereby communicating with a driving control device mounted on vehicle 101, a predetermined information processing device, and the like.
- the user interface 1070 is an interface for inputting information from the user and an interface for presenting information to the user, and includes, for example, a mouse, a keyboard, a touch sensor as the input unit 105, and a liquid crystal display as the display unit.
- the functions of the traffic monitoring device 102 can be realized by executing a software program in cooperation with each physical component. Therefore, the present invention is also referred to as "software program”. ) or as a non-temporary storage medium in which the program is recorded.
- FIG. 10 is a flowchart showing an example of traffic monitoring processing according to the present embodiment.
- the traffic monitoring process is a process for monitoring traffic on the road R, and is performed by referring to position information repeatedly obtained from the sensing device 102, for example, at regular time intervals. For example, when a user's start instruction is received from the input unit 103, the traffic monitoring process is repeatedly executed until an end instruction is received.
- the leading position detection unit 112 acquires the vehicle position on the road R from the sensing device 102 . Then, the leading position detection unit 112 detects the leading position of traffic congestion on the road R based on the acquired vehicle position (step S101).
- FIG. 11 is a flow chart showing an example of the head position detection process (step S101). As shown in FIG. 11, the position history generation unit 112a performs position history generation processing (step S101a).
- the position history generation unit 112a acquires the position information of the vehicle 101 on the road R from the sensing device 102. Then, the position history generation unit 112a generates the history information 105 indicating the history DH of the vehicle position of the vehicle 101 on the road R based on the vehicle position included in the position information.
- the vehicle position acquisition unit 112a_1 acquires the vehicle position of the vehicle 101 traveling on the road R based on the position information on the road R acquired from the sensing device 102 (step S101a_1).
- the history generation unit 112a_2 Based on the vehicle position acquired in step S101a_1, the history generation unit 112a_2 generates history information 105 including changes over time in the vehicle position from the past to the present, that is, the history DH of the vehicle position (step S101a_2). .
- the vehicle position can be obtained in a relatively short period in step S101a_1. Therefore, the history generation unit 107 preferably generates the history information 105 based on the vehicle position acquired in step S101 at a predetermined time longer than the vehicle position acquisition cycle.
- the head detection unit 112b performs head detection processing (step S101b).
- the head detection unit 112b detects the head position of traffic congestion on the road R based on the history information 105 generated in step S101a_2.
- the congestion detection unit 112b_2 detects congestion on the road R based on the history information 105 generated at step S101a_2 and the congestion pattern information 121 of the congestion pattern storage unit 112b_1 (step S101b_1).
- the congestion detection unit 112b_2 compares (eg, pattern matching) the history DH of the vehicle position included in the history information 105 and the congestion pattern indicated by the congestion pattern information 121 to determine the degree of similarity between the two.
- the congestion detection unit 112b_2 detects congestion on the road R, and outputs detection information to that effect to the head specification unit 112b_2. If the degree of similarity is equal to or less than a predetermined threshold value, the traffic congestion detection unit 112b_2 does not detect traffic congestion on the road R, and notifies the leading identification unit 112b_2 of non-detection information to that effect.
- the traffic congestion detection unit 112b_2 may terminate the traffic monitoring process when no traffic congestion is detected.
- the traffic congestion detection unit 112b_2 may detect traffic congestion based on a learning model by using changes in the vehicle position over time as input.
- the learning model includes information (detection information and non-detection information) indicating whether traffic congestion is occurring according to the degree of similarity between the changes in the vehicle position over time and the congestion pattern. It is preferable to adopt a learned learning model that has been machine-learned to generate . This learning may be supervised learning, and the learning model may be stored in advance in a storage unit instead of the congestion pattern storage unit 112b_1.
- the congestion detection unit 112b_2 may detect an abnormal event based on whether or not the feature of the congestion pattern is included in the temporal change of the vehicle position.
- the head identification unit 112b_3 acquires the detection information from the congestion detection unit 112b_2 in response to the traffic jam being detected in step S101b_1, it identifies the head position of the traffic jam (step S101b_2).
- the head identification unit 112b_3 identifies the head position of traffic congestion at each time based on the vehicle position history DH and the congestion pattern information 121 stored in the traffic congestion pattern storage unit 112b_1. Thereby, the head identification unit 112b_3 can identify the change over time of the movement of the head position of the traffic jam, that is, the history of the movement of the head position of the traffic jam.
- the head identifying unit 112b_3 detects an area that matches the traffic pattern information 121 in the vehicle position history DH. For example, the head identification unit 112b_3 determines the current position of the vehicle 101, which is located furthest forward in the traveling direction at each time (rightward in the history DH in FIGS. 1 to 4) in the detected region, as the head of the traffic congestion at each time. Identify as location. As a result, it is possible to obtain the movement history of the leading position of the traffic jam, including the time and the leading position on the road R at that time.
- the head identification unit 112b_3 ends step S101 and returns to the traffic monitoring process shown in FIG.
- the output unit 114 determines whether or not the movement of the leading position of the traffic jam detected in the leading position detection process (step S101) satisfies a predetermined criterion, and outputs traffic congestion information according to the result of the determination. (Step S102).
- FIG. 12 is a flowchart showing an example of output processing (step S102).
- the feature detection unit 114_a1 detects the feature of movement of the head position of the traffic jam based on the history DH of the vehicle positions where the traffic jam was detected in step S101b_1 (step S102a).
- the feature detection unit 114_a1 obtains the movement direction and the movement speed (for example, Km/Hour) of the head position based on the movement history of the head position identified in step S101b_2, Detect features of movement of the head position.
- the movement direction and the movement speed for example, Km/Hour
- the determination unit 114b_3 determines whether the characteristics of the movement of the leading position detected in step S102a satisfy the first criterion (step S102b).
- the determination unit 114b_3 acquires the first criterion included in the criterion information 124 stored in the criterion storage unit 114_a2.
- the determining unit 114b_3 determines whether or not the moving feature satisfies the first criterion based on the obtained first criterion and the moving characteristic of the leading position detected in step S102a.
- the first criterion includes a moving direction opposite to the running direction and a moving speed faster than the first threshold.
- the determining unit 114b_3 determines that the movement direction included in the movement characteristics of the leading position is the opposite direction to the traveling direction of the road R, and the moving speed included in the movement characteristics of the leading position is higher than the first threshold value. When it is fast, it is determined that the first criterion is satisfied.
- the determining unit 114b_3 satisfies the first criterion when the movement direction included in the movement feature of the leading position is not the opposite direction of the traveling direction of the road R, but is the traveling direction, or when the vehicle is not moving. judge not.
- the determination unit 114b_3 also determines that the first criterion is not satisfied when the movement speed included in the movement characteristics of the head position is the same as or slower than the first threshold.
- step S102b When it is determined that the first criterion is satisfied (step S102b; Yes), the determination result output unit 114b_4 outputs the first congestion information (step S102c).
- step S102b determines whether or not the feature of movement of the head position detected in step S102a satisfies the second criterion (step S102d). ).
- the determination unit 114b_3 acquires the second criterion included in the criterion information 124 stored in the criterion storage unit 114_a2.
- the determining unit 114b_3 determines whether or not the moving feature satisfies the second standard based on the acquired second standard and the moving feature of the head position detected in step S102a.
- the second criterion includes the moving direction of travel and the moving speed of slower than the second threshold.
- the determination unit 114b_3 determines when the movement direction included in the movement characteristics of the head position is the traveling direction of the road R and when the movement speed included in the movement characteristics of the head position is slower than the second threshold value. , to satisfy the second criterion.
- the determination unit 114b_3 satisfies the second criterion when the movement direction included in the movement feature of the leading position is not the traveling direction of the road R but the opposite direction to the traveling direction, or when the movement is not performed. judge not.
- the determining unit 114b_3 also determines that the second criterion is not satisfied when the movement speed included in the movement characteristics of the head position is the same as or faster than the second threshold.
- step S102d When it is determined that the second criterion is satisfied (step S102d; Yes), the determination result output unit 114b_4 outputs second congestion information (step S102e).
- step S102d When it is determined that the second criterion is not satisfied (step S102d; No), the determination result output unit 114b_4 outputs the third congestion information (step S102f).
- the determination unit 114b_3 may display the determination result on, for example, a display unit provided in the traffic monitoring device 103. Then, the user may operate the traffic monitoring device 103, for example, to acquire the current image of the location determined to be congested from a surveillance camera installed on the road R and refer to it.
- the user when it is determined that a traffic jam of unknown cause is occurring, the user operates, for example, the traffic monitoring device 103, checks the video, and obtains more detailed information such as an accident as the third traffic jam information. may be included in
- the leading position of congestion on the road R is detected, and when the movement of the detected leading position satisfies a predetermined criterion, the congestion information corresponding to the criterion is output. .
- the traffic condition of the road R at the time of occurrence of traffic congestion can be grasped based on the movement of the leading position of the traffic congestion. Therefore, it is possible to accurately grasp the traffic condition of the road.
- the criteria include a first criterion
- the first criterion includes that the moving direction of the leading position is opposite to the running direction of the road R. Then, when the detected movement of the head position satisfies the first criterion, an output according to the first criterion is performed.
- the wrong-way vehicle 106 can be detected by outputting an output based on whether the moving direction of the leading position is opposite to the traveling direction of the road R. It can also estimate the cause of traffic jams in near real time. Therefore, it becomes possible to grasp the traffic condition of the road more accurately.
- the first criterion further includes that the moving speed of the leading position is higher than a predetermined first threshold.
- the criteria include the second criteria.
- a second criterion includes that the moving direction of the leading position is the traveling direction of the road R. Then, when the detected movement of the head position satisfies the second criterion, an output according to the second criterion is performed.
- the head position often does not move at a fixed position until the accident process is completed, and congestion in which the head position moves in the direction of travel is often caused by low-speed vehicles.
- a low-speed vehicle can be detected by outputting an output based on whether or not the moving direction of the leading position is the traveling direction of the road R. It can also estimate the cause of traffic jams in near real time. Therefore, it becomes possible to grasp the traffic condition of the road more accurately.
- the second criterion further includes that the movement speed of the leading position is lower than a predetermined second threshold.
- history information indicating the history of vehicle positions on the road R is generated, and the head position of traffic congestion on the road R is detected based on the history information.
- the vehicle position on the road R can be acquired in real time from the wide road R, and the traffic conditions on the road R can be grasped from a bird's-eye view. Therefore, it is possible to grasp the traffic conditions of roads in a wide area from a bird's-eye view in real time.
- the history information 105 is generated based on the vehicle position, and the vehicle position is obtained based on optical fiber sensing using optical fibers laid on the road R.
- Many roads, such as expressways, are provided with optical fibers for communication, and it is possible to obtain the position of a vehicle using the optical fibers already provided.
- optical fiber sensing technology it is possible to acquire the vehicle position in real time from the wide road R and grasp the traffic situation of the road R from a bird's-eye view.
- the vehicle position is acquired from the sensing device 102 without distinguishing between the lanes TL and OL for driving in the same direction on the road R, and the leading position of traffic congestion is detected.
- the traffic monitoring device 103 may acquire the vehicle position of the vehicle 101 for each lane TL, OL from the sensing device 102 .
- the leading position detection unit 112 may acquire the vehicle position of the vehicle 101 for each of the lanes TL and OL from the sensing device 102 and detect the leading position of the congestion on each lane of the road R.
- the output unit 114 may output congestion information according to the criteria when the detected movement of the head position in each lane satisfies a predetermined criteria.
- This congestion information may include the occurrence of congestion and its cause for each lane.
- the first criterion may include a threshold TTH defined for the time from detection of traffic congestion to start of movement of the leading position.
- the time from the detection of the traffic jam to the start of movement of the leading position is short.
- the present invention is not limited to these.
- the present invention also includes a form obtained by appropriately combining part or all of the embodiments and modifications described above, and a form obtained by appropriately modifying the form.
- head position detection means for detecting the head position of traffic congestion on the road;
- a traffic monitoring apparatus comprising: output means for outputting congestion information according to a predetermined criterion when the movement of the detected head position satisfies a predetermined criterion.
- the criteria include a first criterion including that the moving direction of the leading position is opposite to the traveling direction of the road; 2.
- the traffic monitoring device according to 1 above, wherein the output means performs an output according to the first criterion when the detected movement of the head position satisfies the first criterion.
- the first criterion further includes that the moving speed of the head position is higher than a predetermined first threshold. 4.
- the criteria include a second criterion including that the moving direction of the head position is the running direction of the road; 2.
- the head position detection means is position history generating means for generating history information indicating a history of vehicle positions on the road; 6.
- the position history generating means is vehicle position acquisition means for acquiring a vehicle position on the road based on optical fiber sensing using optical fibers laid on the road; 7.
- the traffic monitoring apparatus according to 6 above, further comprising history generation means for generating the history information based on the vehicle position.
- the head position detecting means detects the head position of congestion in each lane of the road when the road includes a plurality of lanes for traveling in the same direction. Traffic monitoring equipment. 9.
- the traffic monitoring device according to any one of 1 to 8 above; an optical fiber laid on the road and having one end subjected to a termination treatment that suppresses reflection of an optical signal; a sensing device for inputting an optical signal into the optical fiber and observing a change in optical interference intensity, which is the intensity of light in which the backscattered lights generated along with the input of the optical signal interfere with each other;
- the head position detection means obtains a vehicle position on the road based on the amount of change in the optical interference intensity observed by the sensing device, and detects the head position of the congestion on the road based on the vehicle position. Detect traffic monitoring system. 10.
- Traffic monitoring system 101 Vehicle OF optical fiber 102 Sensing device 103 Traffic monitoring device 105, 105a_1, 105a_2, 105b_1, 105b_2 History information 106 Reverse running vehicle 110 Input unit 112 Head position detection unit 112a Position history generation unit 112a_1 Vehicle position acquisition unit 112a_2 History generation unit 112a_3 First learning model storage unit 112b Head detection unit 112b_1 Congestion pattern storage unit 112b_2 Congestion detection unit 112b_3 Head identification unit 114 Output unit 114_a1 Feature detection unit 114_a2 Reference storage unit 114_a3 Judgment unit 114_a4 Judgment result output unit 121 Traffic congestion pattern information 124 reference information
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Abstract
Description
道路における渋滞の先頭位置を検出する先頭位置検出手段と、
前記検出された先頭位置の移動が予め定められる基準を満たす場合に、当該基準に応じた渋滞情報を出力する出力手段と、を備える。
上記の交通監視装置と、
前記道路に敷設され、光信号の反射を抑制する終端処理が一端に施された光ファイバと、
前記光ファイバに光信号を入力するとともに、当該光信号の入力に伴って生じる後方散乱光同士が干渉した光の強度である光干渉強度の変化量を観測するセンシング装置とを備え、
前記先頭位置検出手段は、前記センシング装置によって観測された前記光干渉強度の変化量に基づいて得られる前記道路における車両位置を取得し、当該車両位置に基づいて、前記道路における渋滞の先頭位置を検出する。
コンピュータが、
道路における渋滞の先頭位置を検出することと、
前記検出された先頭位置の移動が予め定められる基準を満たす場合に、当該基準に応じた出力を行うこと、とを含む。
本発明の一実施の形態に係る交通監視システム100は、図1に示すように、光ファイバセンシング技術を利用して、道路Rを走行する車両101の交通を監視するためのシステムである。図1に示す道路Rは、上り方向へ向かうための道路であって、走行車線TLと追越車線OLとを含む。また、車両101は、自動車、二輪車、バス、トラックなどである。
本実施の形態に係る交通監視装置103は、入力部110と、先頭位置検出部112と、出力部114と、を備える。
出力部114は、先頭位置検出部112によって検出された渋滞の先頭位置の移動が予め定められる基準を満たす場合に、当該基準に応じた渋滞情報を出力する。
ここから、本実施の形態に係る交通監視装置103の物理的構成の例について、図を参照して説明する。
ここから、本発明の一実施の形態に係る交通監視処理について図を参照して説明する。
先頭位置検出部112は、道路Rにおける車両位置をセンシング装置102から取得する。そして、先頭位置検出部112は、当該取得した車両位置に基づいて、道路Rにおける渋滞の先頭位置を検出する(ステップS101)。
出力部114は、先頭位置検出処理(ステップS101)にて検出された渋滞の先頭位置の移動が予め定められる基準を満たすか否かを判定し、当該判定の結果に応じた渋滞情報を出力する(ステップS102)。
図12に示すように、特徴検出部114_a1は、ステップS101b_1にて渋滞が検出された車両位置の履歴DHに基づいて、渋滞の先頭位置の移動の特徴を検出する(ステップS102a)。
実施の形態では、道路Rにおいて、同じ方向へ走行するための車線TL,OLを区別せずに、車両位置をセンシング装置102から取得し、渋滞の先頭位置を検出する例を説明した。しかし、交通監視装置103は、車線TL,OLごとの車両101の車両位置をセンシング装置102から取得してもよい。
例えば、第1基準は、渋滞が検出されてから先頭位置が移動を開始するまでの時間に関して定められる閾値TTHを含んでもよい。
前記検出された先頭位置の移動が予め定められる基準を満たす場合に、当該基準に応じた渋滞情報を出力する出力手段と、を備える
交通監視装置。
2.前記基準は、前記先頭位置の移動方向が前記道路の走行方向とは反対の方向であることを含む第1基準を含み、
前記出力手段は、前記検出された先頭位置の移動が前記第1基準を満たす場合に、当該第1基準に応じた出力を行う
上記1に記載の交通監視装置。
3.前記第1基準は、前記先頭位置の移動速度が予め定められた第1閾値よりも速いことをさらに含む
上記2に記載の交通監視装置。
4.前記基準は、前記先頭位置の移動方向が前記道路の走行方向であることを含む第2基準を含み、
前記出力手段は、前記検出された先頭位置の移動が前記第2基準を満たす場合に、当該第2基準に応じた出力を行う
上記1に記載の交通監視装置。
5.前記第2基準は、前記先頭位置の移動速度が予め定められた第2閾値よりも遅いことをさらに含む
上記4に記載の交通監視装置。
6.前記先頭位置検出手段は、
前記道路における車両位置の履歴を示す履歴情報を生成する位置履歴生成手段と、
前記履歴情報に基づいて、前記道路における渋滞の先頭位置を検出する先頭検出手段と、を含む
上記1から5のいずれか1つに記載の交通監視装置。
7.前記位置履歴生成手段は、
前記道路に敷設された光ファイバを利用した光ファイバセンシングに基づいて得られる前記道路における車両位置を取得する車両位置取得手段と、
前記車両位置に基づいて、前記履歴情報を生成する履歴生成手段と、を含む
上記6に記載の交通監視装置。
8.前記先頭位置検出手段は、前記道路が同じ方向へ走行するための複数の車線を含む場合に、当該道路の各車線における渋滞の先頭位置を検出する
上記1から7のいずれか1つに記載の交通監視装置。
9.上記1から8のいずれか1つに記載の交通監視装置と、
前記道路に敷設され、光信号の反射を抑制する終端処理が一端に施された光ファイバと、
前記光ファイバに光信号を入力するとともに、当該光信号の入力に伴って生じる後方散乱光同士が干渉した光の強度である光干渉強度の変化量を観測するセンシング装置とを備え、
前記先頭位置検出手段は、前記センシング装置によって観測された前記光干渉強度の変化量に基づいて得られる前記道路における車両位置を取得し、当該車両位置に基づいて、前記道路における渋滞の先頭位置を検出する
交通監視システム。
10.コンピュータが、
道路における渋滞の先頭位置を検出することと、
前記検出された先頭位置の移動が予め定められる基準を満たす場合に、当該基準に応じた出力を行うこと、とを含む
交通監視方法。
11.コンピュータを、上記1から8のいずれか1項に記載の交通監視装置として機能させるためのプログラム。
101 車両
OF 光ファイバ
102 センシング装置
103 交通監視装置
105,105a_1,105a_2,105b_1,105b_2 履歴情報
106 逆走車
110 入力部
112 先頭位置検出部
112a 位置履歴生成部
112a_1 車両位置取得部
112a_2 履歴生成部
112a_3 第1学習モデル記憶部
112b 先頭検出部
112b_1 渋滞パターン記憶部
112b_2 渋滞検出部
112b_3 先頭特定部
114 出力部
114_a1 特徴検出部
114_a2 基準記憶部
114_a3 判定部
114_a4 判定結果出力部
121 渋滞パターン情報
124 基準情報
Claims (10)
- 道路における渋滞の先頭位置を検出する先頭位置検出手段と、
前記検出された先頭位置の移動が予め定められる基準を満たす場合に、当該基準に応じた渋滞情報を出力する出力手段と、を備える
交通監視装置。 - 前記基準は、前記先頭位置の移動方向が前記道路の走行方向とは反対の方向であることを含む第1基準を含み、
前記出力手段は、前記検出された先頭位置の移動が前記第1基準を満たす場合に、当該第1基準に応じた出力を行う
請求項1に記載の交通監視装置。 - 前記第1基準は、前記先頭位置の移動速度が予め定められた第1閾値よりも速いことをさらに含む
請求項2に記載の交通監視装置。 - 前記基準は、前記先頭位置の移動方向が前記道路の走行方向であることを含む第2基準を含み、
前記出力手段は、前記検出された先頭位置の移動が前記第2基準を満たす場合に、当該第2基準に応じた出力を行う
請求項1に記載の交通監視装置。 - 前記第2基準は、前記先頭位置の移動速度が予め定められた第2閾値よりも遅いことをさらに含む
請求項4に記載の交通監視装置。 - 前記先頭位置検出手段は、
前記道路における車両位置の履歴を示す履歴情報を生成する位置履歴生成手段と、
前記履歴情報に基づいて、前記道路における渋滞の先頭位置を検出する先頭検出手段と、を含む
請求項1から5のいずれか1項に記載の交通監視装置。 - 前記先頭位置検出手段は、前記道路が同じ方向へ走行するための複数の車線を含む場合に、当該道路の各車線における渋滞の先頭位置を検出する
請求項1から6のいずれか1項に記載の交通監視装置。 - 請求項1から7のいずれか1項に記載の交通監視装置と、
前記道路に敷設され、光信号の反射を抑制する終端処理が一端に施された光ファイバと、
前記光ファイバに光信号を入力するとともに、当該光信号の入力に伴って生じる後方散乱光同士が干渉した光の強度である光干渉強度の変化量を観測するセンシング装置とを備え、
前記先頭位置検出手段は、前記センシング装置によって観測された前記光干渉強度の変化量に基づいて得られる前記道路における車両位置を取得し、当該車両位置に基づいて、前記道路における渋滞の先頭位置を検出する
交通監視システム。 - コンピュータが、
道路における渋滞の先頭位置を検出することと、
前記検出された先頭位置の移動が予め定められる基準を満たす場合に、当該基準に応じた出力を行うこと、とを含む
交通監視方法。 - コンピュータを、請求項1から7のいずれか1項に記載の交通監視装置として機能させるためのプログラム。
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JP2012043094A (ja) * | 2010-08-17 | 2012-03-01 | Toyota Motor Corp | 交通制御システムおよび車両制御システム |
WO2020116030A1 (ja) * | 2018-12-03 | 2020-06-11 | 日本電気株式会社 | 道路監視システム、道路監視装置、道路監視方法、及び非一時的なコンピュータ可読媒体 |
JP2020154958A (ja) * | 2019-03-22 | 2020-09-24 | 沖電気工業株式会社 | 異常交通流検出装置、異常交通流検出方法、及び異常交通流検出プログラム |
WO2021038695A1 (ja) * | 2019-08-26 | 2021-03-04 | 日本電気株式会社 | 光ファイバセンシングシステム、道路監視方法、及び光ファイバセンシング機器 |
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JP2012043094A (ja) * | 2010-08-17 | 2012-03-01 | Toyota Motor Corp | 交通制御システムおよび車両制御システム |
WO2020116030A1 (ja) * | 2018-12-03 | 2020-06-11 | 日本電気株式会社 | 道路監視システム、道路監視装置、道路監視方法、及び非一時的なコンピュータ可読媒体 |
JP2020154958A (ja) * | 2019-03-22 | 2020-09-24 | 沖電気工業株式会社 | 異常交通流検出装置、異常交通流検出方法、及び異常交通流検出プログラム |
WO2021038695A1 (ja) * | 2019-08-26 | 2021-03-04 | 日本電気株式会社 | 光ファイバセンシングシステム、道路監視方法、及び光ファイバセンシング機器 |
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