JP2001255368A - Tracking processor and tracking processing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a tracing processor and a tracking processing method in which a tracking calculation being executed can be canceled. SOLUTION: The tracking processor is provided with a track-calculation-table control means (3) which instructs the discarding of information, for update, during the tracking calculation and which controls execution information on a processing operation during the tracking calculation. The processor is provided with a cluster-table control means (4) by which information to be held in the tracking calculation is controlled so as to be divided into the information, for update, during the tracking calculation and existing information before the calculation. The processor is provided with tracking-calculation exception means (5, 6, 7, 8) which perform a multitask tracking capsulation. The processor is provided with a tracking-calculation control means (2) which cancels the processing operation of the racking calculation being excited at present by using the execution information in the means (3) when observation-point information is input newly from the outside and which instructs the execution of the tracking calculation on the basis of new observation-point information by using the existing information inside the control means (4).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking processing apparatus and a tracking processing method, and more particularly to a tracking processing apparatus and a tracking processing method capable of canceling processing during tracking calculation.

[0002]

2. Description of the Related Art As a conventional tracking processing method for a plurality of targets, Japanese Patent Laid-Open Publication No. 7-306263 and
No. 17 publication. These provide a method of performing tracking processing on a plurality of targets using information from a sensor.

In the tracking processing method for a plurality of targets, the processing load increases remarkably when the number of tracking targets (tracks) and observation points increase, so that real-time requirements (calculation of wakes within a fixed time) are required. A device for speeding up the processing is required.

[0004] In the prior art, as a countermeasure against these, improvements are made to the tracking procedure (algorithm) and the processing execution method (computer architecture and calculation method). In the above-mentioned JP-A-7-306263,
The tracking process has been improved by improving the tracking procedure.

On the other hand, there is an apparatus that performs tracking processing for a plurality of targets by a plurality of sensors that operate independently. In this case, if the tracking processing is performed in the order of arrival of observation point information,
There are cases where real-time requirements cannot be met. In particular, when the input intervals of observation point information (a set of observation points collected at the same time) from multiple sensors are irregular, and observation point information arrives at a certain point in time from multiple sensors However, there is a problem that a device that satisfies real-time requirements cannot be obtained only by improving the tracking procedure (algorithm) or the processing execution method (computer architecture and calculation method).

[0006]

In the conventional tracking processing method, as described above, a tracking procedure (algorithm) is used.
In the case where tracking processing is executed by multiple sensors that operate independently, the observation point information is concentrated at a certain point in time because the improvement is performed and the processing execution method (computer architecture and calculation method) is improved. May arrive, but in such a case, improvement of the tracking procedure (algorithm) and improvement of the processing execution method (computer architecture and calculation method) alone cannot satisfy the real-time request. There was a problem.

In order to solve such a problem, it is necessary to provide an apparatus capable of selecting observation point information by using information of a sensor used for observation, and executing multi-target tracking by narrowing down only the selected information. become. To obtain such a device,
A means for selecting the observation point information and selecting information to be used in the tracking calculation and a means for canceling the tracking calculation being executed in accordance with the selection result are required. No conventional multi-target tracking apparatus performs such selection and cancellation.

The present invention has been made in order to solve such a problem. By connecting an external device for selecting observation point information, a new device for selecting observation point information during tracking calculation is provided. When new observation information is input, the current calculation is canceled and the tracking processing is continued by using the newly input information preferentially. An object of the present invention is to provide a tracking processing apparatus and a tracking processing method that can respond to a case where information arrives and that can perform a tracking process with high accuracy while satisfying a real-time request.

[0009]

SUMMARY OF THE INVENTION The present invention relates to tracking calculation control means for setting an observation ID for observation point information input from the outside and controlling tracking calculation based on the observation point information. At the time point information is newly entered,
If the tracking calculation based on the previously input observation point information is being executed, the currently executed tracking calculation is canceled, and the tracking calculation based on the newly input observation point information is performed. Tracking calculation control means for instructing, observation ID storage means for storing the latest observation ID, and tracking calculation under the control of the tracking calculation control means, the observation ID currently being calculated is held as a local ID, and the observation ID is stored. A tracking calculation execution means for comparing the latest observation ID and the local ID in the storage means and continuing the tracking calculation processing when the two coincide with each other, and for updating information to be held in the tracking calculation during the tracking calculation Cluster table management means for managing the information separately from the information and the already-calculated existing information; and managing the execution state of the tracking calculation processing of the tracking calculation executing means. When the instruction of Yanseru is input, the cluster table management unit, a tracking processing unit and a track calculation table managing means for instructing to discard the update information in the tracking calculations.

[0010] The apparatus further comprises observation ID comparison setting means for setting a timing for comparing the observation ID with the local ID by the tracking calculation execution means.

The apparatus further includes feedback means for feeding back predetermined information to an external device for inputting observation point information to the tracking calculation control means, and notification information setting means for designating the predetermined information to be fed back.

Further, calculation history recording means for recording a tracking calculation history indicating completion or cancellation of tracking calculation of each observation point information, observation point information accumulating means for recording all inputted observation point information, and execution of tracking calculation. Tracking calculation result storage means for recording the calculation result of the track obtained by the means.

[0013] The tracking calculation executing means determines whether or not the observation point based on the input observation point information is included in the target predicted position range. Generate a new cluster of observation points if the observation point is not included in the predicted position range,
Further, when a plurality of tracks included in another cluster have a common observation point, these clusters are integrated, and a cluster new establishment / integration unit that outputs information on the number of hypotheses and the number of tracks included in the cluster is provided. Tracking time prediction means for predicting the time required for tracking calculation for the input observation point information, using the tracking inside / outside judgment result and the information on the number of hypotheses and the number of wakes included in the cluster. Is further provided.

The tracking time measuring means for measuring the time required for the tracking calculation and the predicted time of the tracking time predicting means are compared with the measured time of the tracking time measuring means, and the prediction time is corrected by the tracking time predicting means. And a tracking prediction correcting means for instructing.

Further, the tracking calculation control means instructs the tracking calculation execution means to perform the gate determination processing by the gate determination section in advance when the observation point information is input, independently of the tracking calculation cancellation processing. The apparatus further includes a first preliminary gate determination correspondence function, wherein the tracking calculation executing means performs gate determination processing in advance independently of the cancellation processing based on the instruction, and records the determination result in the track calculation table management means.

Further, the apparatus further comprises observation point information temporary recording means for temporarily storing the input observation point information.

In addition, the tracking calculation control means executes the gate determination processing and the cluster new setting / integration processing in advance when the observation point information is input independently of the tracking calculation cancel processing. The tracking calculation executing means performs gate determination and cluster new / integration processing in advance independently of the cancellation processing based on the instruction, and outputs the gate determination result based on the instruction. In addition to recording the result in the calculation table management means, the result of cluster new / integration is recorded in the cluster table management means.

Further, the apparatus further comprises tracking time prediction means for predicting the calculation time for the input observation point information.

The apparatus further includes tracking calculation time setting means for setting a time until the end of tracking calculation, and tracking canceling means for canceling tracking calculation based on information in the tracking processing device.

According to the present invention, an observation ID is set for observation point information input from the outside, and when observation point information is newly input, tracking calculation based on the previously input observation point information is performed. Is in the running state, cancels the running tracking calculation and instructs to execute the tracking calculation based on the newly input observation point information, thereby controlling the tracking calculation. A calculation control step, an observation ID storage step of storing the latest observation ID, and a tracking calculation based on the observation point information are performed, and the observation ID currently being calculated is set as a local ID, and the stored observation ID and local A tracking calculation execution step of continuing the tracking calculation process when the IDs are compared with each other and the two are matched, and dividing information to be held in the tracking calculation into update information during the tracking calculation and calculated existing information. And the cluster table management process that supervises as,
In addition to managing the execution state of the tracking calculation process in the tracking calculation execution process, when an instruction to cancel the tracking calculation in the tracking calculation control process is input, discarding the update information during the tracking calculation in the cluster table management process And a track calculation table management step of instructing the tracking process.

Further, the apparatus further includes an observation ID comparison setting step of setting a timing for comparing the observation ID and the local ID in the tracking calculation execution step.

In the tracking calculation control step, there is further provided notification information setting means for designating information to be fed back to an external device which inputs observation point information from outside.

A calculation history recording step of recording a tracking calculation history indicating completion or cancellation of tracking calculation of each observation point information; an observation point information accumulation step of recording all input observation point information; And a tracking calculation result accumulation step of recording the calculation result of the track obtained by the means.

The tracking calculation executing step includes a gate determining step of determining whether or not the observation point based on the input observation point information is included in the target predicted position range, and a gate inside / outside determination result of the gate determining step. Generates a new cluster based on the observation point if the observation point is not included in the predicted position range, and integrates the clusters when multiple tracks included in another cluster have a common observation point. A cluster new / integration step of outputting information on the number of hypotheses and the number of wakes included in the cluster. And a tracking time prediction step of predicting the time required for tracking calculation for the input observation point information using

The tracking time measuring step for measuring the time required for the tracking calculation, the predicted time of the tracking time predicting step and the measuring time of the tracking time measuring step are compared to correct the prediction in the tracking time predicting step. And a tracking prediction correction step for instructing.

In the tracking calculation control step, when the observation point information is input, the gate determination processing in the gate determination step is performed in advance in the tracking calculation execution step independently of the cancellation processing of the tracking calculation. An instruction step is further provided, and in the tracking calculation execution step, based on the instruction, the gate determination processing is performed in advance independently of the cancellation processing, and the determination result is recorded in the track calculation table management step.

Further, the method further comprises a temporary observation point information recording step of temporarily storing the input observation point information.

In the tracking calculation control step, when the observation point information is input, the tracking calculation executing means performs the gate determination processing and the cluster new / integration processing in advance independently of the tracking calculation cancellation processing. The method further includes a second preliminary gate determination corresponding step of instructing, and in the tracking calculation execution step, the gate determination and the cluster new / integration processing are performed in advance independently of the cancel processing based on the instruction, and the gate determination result is calculated as a wake calculation. In addition to recording in the table management process, the result of cluster new / integration is recorded in the cluster table management process.

Further, the apparatus further comprises a tracking time prediction step of predicting a calculation time for the input observation point information.

The apparatus further includes a tracking calculation time setting step of setting a time until the end of the tracking calculation, and a tracking canceling step of canceling the tracking calculation based on information in the tracking processing device.

[0031]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Hereinafter, an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of a tracking processing device according to Embodiment 1 of the present invention. In FIG. 1, reference numeral 1 denotes a tracking processing device;
Is the tracking control that controls the tracking calculation by canceling the currently running tracking calculation process when new observation point information is input and instructing the tracking calculation to be executed with the new observation point information. The calculation control means 3 instructs the discard of the update information of the currently executed tracking calculation instructed to be canceled, and the track calculation table management means for managing the execution information of the process being tracked, and the reference numeral 4 denotes the tracking calculation. Cluster table management means for managing information to be held separately for update information being calculated and existing information before calculation, 5 is a gate determination means for performing gate determination processing in multitrack tracking calculation, and 6 is a gate determination means for multitrack tracking calculation. Cluster new establishment / integration means for performing cluster new establishment / integration processing, track tracking means 7 for performing track calculation in multitrack tracking calculation, and 2 for observation point information input from an external device 9 (described later). The tracking calculation control means for setting the observation ID and controlling the tracking calculation based on the observation point information. When the observation point information is newly input, the tracking calculation based on the previously input observation point information is performed. If the state is in execution, the tracking calculation in execution is canceled and an instruction is issued to execute tracking calculation based on the newly input observation point information. Numeral 3 stores the latest observation ID and manages the execution state (execution status) of the tracking calculation processing. When an instruction to cancel the tracking calculation is input from the tracking calculation control unit 2, a cluster table 3 is displayed. Management means 4
A track calculation table managing means for instructing the update information during tracking calculation to be discarded (described later). Reference numeral 4 designates information to be held in tracking calculation as update information during tracking calculation and existing calculated information. This is a cluster table management unit that manages information separately from information.
Reference numeral 5 denotes a gate determination unit that determines whether an observation point based on the input observation point information is included in a target predicted position range, and 6 denotes an observation point based on a gate inside / outside determination result of the gate determination unit 5. If a point is not included in any of the gates, a new cluster by the observation point is generated, and if a plurality of tracks included in another cluster have a common observation point, those clusters are integrated, The cluster new / integrating means 7 for outputting information such as the number of hypotheses and the number of wakes included in the clusters performs wake calculation based on information from the cluster new / integrating means 6 and generates a plurality of data based on observation point information. This is a track calculation unit that calculates a track candidate.
Here, the gate determination unit 5, the cluster new / integration unit unit 6, and the track calculation unit 7 perform tracking calculation under the control of the tracking calculation control unit 2, and hold the observation ID currently being calculated as the local ID. The tracking calculation execution means is configured to compare the observation ID and the local ID in the track calculation table management means 3 and to continue the tracking calculation processing when they match. 8 is a track determining means for performing a track determining process for selecting an optimal candidate from the track candidates output from the track calculating means 7; 9 is an external device connected to the tracking processing device 1 of the present invention; Is an external device connected to the tracking processing device 1 of the present invention, and a wake display device for displaying a wake as a calculation result of the device 1. It is.

FIG. 2 is a flow chart showing the operation of the tracking calculation control means 2, FIG. 3 is a flow chart showing the operation of the track calculation table management means 3, and FIG. 4 is a flow chart showing the operation of the cluster table management means 4. FIG. 5 is a flowchart showing the operation of the gate determination means 5, the cluster new / integration means 6, and the track calculation means 7. 6 is a diagram showing a basic flow of the multi-target tracking calculation, FIG. 7 is a diagram of an example of a track calculation table in which the track calculation table management means 3 holds information inside, and FIG. 8 is a cluster table management means. FIG. 4 is a diagram of an example of information held by a fourth information processing apparatus;

The tracking processing device described in the present embodiment is for selecting and canceling observation point information in cooperation with a device for selecting observation point information. Embodiment 1
, The observation point information input device 9 corresponds to a device for selecting observation point information. Observation point information used for tracking information is input from the observation point information input device 9. It is assumed that the observation point information input device 9 has a selection function for observation point information.

Here, when new observation information is input, priority is given to the completion of the calculation of the new information. The observation point information input device 9 is premised on inputting observation point information to the tracking processing device 1 when canceling a tracking calculation that is currently being performed and performing tracking using new observation information.

First, the tracking calculation and the canceling operation in the present apparatus are performed by the tracking calculation control means 2, the track calculation table management means 3,
The cluster table management means 4, the gate determination means 5, the cluster new / integration means 6, and the track calculation means 7 will be described separately.

The operation of the tracking calculation control means 2 will be described with reference to FIG. First, the tracking calculation control means 2 receives observation point information from the observation point information input device 9 (step S).
1). At this time, an observation ID for identifying observation point information is set (step S2). After setting the observation ID, the new observation ID is instructed to the track calculation table manager 3 and set as a system observation ID (described later) (step S3).
The track calculation table management means 3 after the system observation ID is set
The operation at will be described later. After setting the system observation ID, the new observation ID is added together with the observation point information to the gate determination means 5.
(Step S4).

Gate determining means 5 receiving the observation point information
Then, the tracking calculation is started. Starting from the gate determination means 5, the cluster new establishment / integration means 6 to the track calculation means 7
The other target tracking calculation is advanced while delivering the calculation result and the observation ID.

In the tracking calculation, the processing of the gate determining means 5 to the cluster new / integrating means 6 is repeatedly executed each time observation point information is input. Hereinafter, this series of processing for each observation point information is referred to as “one tracking calculation”. In the above tracking calculation, a plurality of wake candidates are calculated based on the observation point information. The track determination means 8 selects a track to be displayed from the track candidates. The wake display device 10 displays the wake of the selected result.
To communicate.

Here, the detailed description of the tracking calculation is the same as that of, for example, Japanese Patent Application Laid-Open No. 8-271617, and thus will be omitted, but the basic flow will be briefly described. As shown in FIG. 6, when the gate determination unit 5 receives the observation point information from the tracking calculation control unit 2, the observation point is included in the target presence prediction position range (hereinafter, this range is referred to as a gate). (Hereinafter, this determination is referred to as gate determination) (step T1). Next, a new cluster
The integrating means 6 receives the gate inside / outside determination result and, based on the result, newly establishes or integrates the cluster (step T2). That is, if the observation point for which the determination has been made is not included in any of the gates, a new cluster is generated using that observation point. Further, cluster integration occurs when a plurality of tracks included in different clusters have a common observation point. Next, the track calculation means 7 performs track calculation based on the information (step T3). For track calculation, calculation of track correlation matrix, hypothesis update, track information update,
Sub-optimization etc. are included.

The gate determining means 5 and the new cluster
The operation of the integrating means 6 and the track calculation means 7 in this device will be described later.

As described above, the tracking calculation control means 2 uses the observation ID to set a trigger for canceling the tracking calculation being executed.

Next, the operation of the track calculation table management means 3 will be described with reference to FIG.
This will be described based on FIG. The track calculation table management means 3 is a means for managing an ID for controlling the entire tracking calculation and a temporary storage for holding information to be used as feedback by means for selecting observation point information. FIG. 7 shows an example of information held by the track calculation table management means 3 in this embodiment.

First, the track calculation table management means 3 receives the observation ID from the tracking calculation control means 2 (step S10).
The track calculation table management means 3 stores an observation ID for the currently executed tracking calculation in order to control the entire tracking calculation. This observation ID is used as a system observation ID. Also,
The track calculation table management means 3 stores the current tracking calculation execution status for tracking calculation control. That is,
When receiving the observation ID from the tracking calculation control means 2, the track calculation table management means 3 sets the received observation ID as the system observation ID (step S11) and checks the execution status of the tracking calculation (step S12).
The execution status of the tracking calculation is roughly classified into two: “waiting for observation point input (initial state)” and “tracking calculation in progress”. "Tracking is being calculated" is further divided into a plurality of states and managed in detail. In this example, "Gate is being determined"
"Under cluster integration" and "Track calculation"
It is managed separately for each tracking calculation means during calculation execution.

In step S12, if the execution status is checked and the result is "waiting for observation point insertion", the track calculation table management means 3 notifies the cluster table management means 4 of the system observation ID (step S12). S1
3). Alternatively, if it is "tracking calculation in progress", the track calculation table management means 3 notifies the cluster table management means 4 of the discard of the update information and the system observation ID (step S1).
4). After notifying the cluster table management means 4 in step S13 or S14, the execution status is changed to "gate determination in progress" of "tracking calculation in progress" (step S1).
5). Next, the process returns to step S10.

Thereafter, the tracking calculation proceeds, and when a notification of the completion of the calculation is received from the gate determination means 5, the cluster new / integration means 6, and the track calculation means 7, the contents of the calculation completion notification are checked (step S16). As a result of the check, if the calculation completion notification is “gate determination end notification”, the execution status is changed to “cluster integration” (step S1).
7) Similarly, if the notification is “Cluster new establishment / integration end notification”, the execution status is changed to “Track calculation in progress” (step S18). To "waiting for observation point input" (step S19).

As described above, the track calculation table management means 3
The system uses the system observation ID and the execution status to manage the determination conditions for canceling the tracking calculation being executed.

Next, the operation of the cluster table management means 4 will be described with reference to FIG.
This will be described based on FIG. In one tracking calculation, there is information that is temporarily calculated and used in each calculation, and information that is referred to when the observation point information is input next time or later. In the tracking calculation, if the reference information is returned to the state before the calculation, and new observation point information is input, a tracking result in a situation where there is no observation point information being processed can be obtained. The cluster table management means 4
This is a means for managing the referred information (hereinafter referred to as cluster information). FIG. 8 shows an example of the cluster information.

The cluster table management means 4, as shown in FIG. 8, manages cluster information by dividing it into two fields, existing and updated. Although not shown in FIG. 8, an observation ID is held inside. This observation I
D is a cluster observation ID.

First, an operation when receiving an instruction from the track calculation table management means 3 will be described. When an instruction is received from the track calculation table management means 3, the content is checked (step S2).
5) If only the system observation ID is notified by the instruction, the cluster observation I in the cluster table management means 4
D is updated to the value of the system observation ID (step S2)
6). On the other hand, when the instruction instructs to discard the system observation ID and the update information, the update field data in the cluster table management means 4 is cleared (step S27), and the cluster observation ID is changed to the system observation ID. The value is updated to a value (step S26).

Next, the gate determination means 5 and the new cluster
The operation when an update operation to the cluster information is performed from the integrating means 6 and the track calculation means 7 will be described.

In the operation of updating the cluster information, a pair of the updated value and the local observation ID (described later) is notified from each means to the cluster table management means 4 (step S25). Upon receiving the notification, the cluster table management means 4 compares the received local observation ID with the cluster observation ID (= system observation ID) (step S28). If they match, it is checked whether the notification received in step S25 is a cluster update information notification or a tracking completion notification (step S29). If the notification is a cluster update information notification, the cluster table management means is checked. 4 is recorded in the update field.

If the ID values do not match in step S28, it is checked whether the data in the update field in the cluster table management means 4 has been cleared (step S31). The field data is cleared (step S32), and the notified update content is discarded. In the case where it has been cleared according to an instruction from the track calculation means 7 (step S3
1) Do not clear again.

When one tracking calculation is completed, the cluster table management means 4 receives the completion notification (step S25). In this embodiment, the wake calculation means 7 notifies the end of the calculation.

This notification is sent to the local observation I
A notification is sent to the cluster table management means 4 together with D (step S25). When receiving the notification, the cluster table management means 4 compares the received local observation ID with the cluster observation ID (step S28). If they match, it is checked whether the notification received in step S25 is a cluster update information notification or a tracking completion notification (step S29). If the notification is a tracking completion notification, the cluster table management means 4 Overwritten the contents of the update field of the existing field (step S
33) Then, the data of the update field is cleared (step S32).

If the IDs do not match in step S28, the data in the update field in the cluster table management means 4 is cleared (step S32), and the notified update content is discarded. In the case where it has been cleared by an instruction from the track calculation means 7 (step S31),
Do not clear again.

As described above, in the cluster table management means 4,
As shown in FIG. 8, the cluster information is managed by dividing it into two fields, existing and updated, and writing control is performed using the observation ID. You can go back. Further, the cluster information can be updated without contradiction.

The operation of the gate determination means 5, the cluster new / integration means 6, and the track calculation means 7 will be described with reference to FIG.
In this apparatus, the gate determination unit 5, the cluster new / integration unit 6, and the track calculation unit 7 hold the observation ID in each unit. This observation ID is used as a local observation ID. Also,
The observation ID passed to the next means together with the calculation result is defined as a transmission observation ID.

The gate determination means 5 which is the first means
Receives observation point information from the tracking calculation control means 2 as a calculation result of the previous means.

First, in the input waiting state (initial state), when the result of calculation by the previous means and the transmission observation ID are received, execution of the processing is started (step S40). At this time, the system observation ID is obtained from the track calculation table management means 3 and is compared with the transmission observation ID. If they match, the value of the local observation ID is updated to the value of the transmission observation ID, and the calculation of each process is started (steps S41 and S42).

If they do not match, no calculation is performed (step S47), and a transition is made to an input waiting state (a state where the next gate determination result can be accepted) (step S4).
1, S42).

Next, a tracking calculation performed by each tracking processing means is executed (step S43). In the long calculation, the system observation ID is obtained from the track calculation table management means 3 during the calculation, and is compared with the local observation ID (step S44). For example, the wake calculation means 7, which performs calculations such as wake correlation matrix generation, wake reliability calculation, hypothesis generation, and quasi-optimization, performs each calculation, and performs comparison at the timing immediately before the start of the next calculation. it can.

Here, if the two match, the calculation is continued. If the two do not match, the calculation is interrupted (step S47), and a transition is made to an input waiting state (a state where the next gate determination result can be accepted).

Finally, a procedure when the tracking calculation in charge is completed will be described. At this time, the system observation ID is obtained from the track calculation table management means 3 and compared with the local observation ID (step S45). If the two match, the calculation result is notified to the cluster table management means 4 and the track calculation table management means 3. The calculation result is passed to the next tracking processing means (step S46). Here, the value of the local observation ID is delivered as the transmission observation ID together with the calculation result. On the other hand, if the two do not match in step S45, the calculation is canceled (step S47), and the process shifts to an input waiting state (a state where the next gate determination result can be accepted) (see FIG. 6).

As described above, the gate determination means 5, the cluster new / integration means 6, and the wake calculation means 7 cancel the tracking calculation being executed using the observation ID.

Next, a description will be given of the operation of the function of notifying the tracking calculation status in the present apparatus. In the tracking calculation control means 2, when observation point information is input from the observation point information input device 9, information for identifying the observation point information between the tracking processing device 1 and the observation point information input device 9, and tracking. The calculation control means 2 notifies the tracking calculation information notifying means 11 of the observation ID numbered by itself.

The gate determination means 5 for performing tracking calculation, the cluster new / integration means 6 and the wake calculation means 7 record information on the tracking calculation to be notified to the observation point information input device 9 in the wake calculation table management means 3. In the present embodiment, the inside / outside gate determination result, the cluster size, and the tracking calculation execution status (which means is being executed) are recorded.

The result of the gate inside / outside determination is sent to the gate determination means 5.
Is transferred to the track calculation table management means 3 when the calculation is completed. The cluster size is the number of tracks and the number of hypotheses included in the cluster, and is passed to the track calculation table management means 3 as a calculation result when the cluster new / integration means 6 completes the calculation.

The track calculation table management means 3 holds the information passed from each tracking calculation together with the observation ID (system observation ID) currently calculating the track. In the present embodiment, as shown in FIG. 7, the information holds the inside / outside gate determination result, the cluster size, and the tracking calculation execution status (which means is being executed).

When the tracking calculation is canceled (when the system observation ID is updated during the tracking calculation), the update information is discarded and the system observation ID is notified to the cluster table management means 4 as described above. In addition, the tracking calculation information notifying unit 11 is notified that the tracking calculation has been canceled. At this time, the old and new system observation IDs are notified.

The tracking calculation information notifying means 11 refers to the information recorded in the track calculation table management means 3 as necessary,
The contents are notified to the observation point information input device 9. In the present embodiment, information is collected according to an instruction from the observation point information input device 9 (see the wake calculation table management means 3), and the contents are notified.

The tracking calculation information notifying means 11 includes the identification information of the observation point information received from the tracking calculation control means 2 and the observation I information.
The correspondence of D is recorded. The information of the track calculation table management means 3 is recorded in the tracking processing device 1 based on the local observation ID. The tracking calculation information notifying unit 11 uses the recorded correspondence to convert the data into a format that can be identified by the observation point information input device 9 and notifies the tracking information.

As described above, in the present apparatus, when new observation point information is input during the calculation of the tracking processing, the current calculation can be canceled and the tracking calculation can be started using the new observation point information. Therefore, the tracking process can be performed while satisfying the real-time request even when information from a plurality of independently operating sensors is used. Also,
There is also an effect that the cancellation can be performed asynchronously.

Further, in the present apparatus, there is also an effect that the cancellation of the tracking calculation can be performed while maintaining the consistency of the tracking calculation, regardless of which means of the tracking calculation is being executed.

In this apparatus, information to be referred to in the tracking calculation is managed separately for existing and updated information, so that when the calculation is canceled, it is possible to efficiently return to the state before the start of the calculation to be canceled.

Further, this apparatus has a function of controlling the tracking calculation by feeding observation point information to the apparatus which controls the tracking calculation, thereby feeding back the tracking calculation execution status. This is an apparatus that controls the tracking calculation, and has the effect of providing information necessary for more flexible control.

In the above-described embodiment, the tracking calculation information notifying unit 11 has been described as an example in which information is collected by an instruction from the observation point information input device 9 and the content is notified, but the present invention is not limited to this case. The tracking calculation information notifying means 11 can also be transmitted without an instruction from the information input device 9,
In this case, the same effect as in the above embodiment can be obtained.

In the above-described embodiment, an example has been described in which the identification information of the observation point information input device 9 and the observation ID are used as the identifier of the observation point information. However, the present invention is not limited to this case.
Even if the identification information is used as the observation ID, the same effect as in the above embodiment can be obtained.

In the above embodiment, the tracking calculation execution status recorded by the track calculation table management means 3 is set to “waiting for observation point input”, “gate determination”, “cluster integration”, and “track calculation”. However, the same effect as in the above embodiment can be obtained even if the number of states is reduced to two, such as “waiting for observation point input” and “under tracking calculation”. Conversely, according to the example of FIG. 6, "waiting for observation point input", "gate determination", "cluster integration", "track correlation matrix generation", "track reliability calculation", and "hypothesis generation". Even if the number of states is increased as in “suboptimization”, the same effect as in the above embodiment can be obtained. As described above, the state indicating the execution status can be arbitrarily specified, and the same effect as in the above embodiment can be obtained.

Embodiment 2 Hereinafter, a tracking processing device according to a second embodiment of the present invention will be described with reference to FIG. FIG. 9 is a block diagram showing a configuration of a tracking processing device according to Embodiment 2 of the present invention. In FIG. 9, the comparison between the observation ID given to the newly input observation point information and the local ID currently being calculated is performed by the gate determination means 5, the cluster new / integration means 6, Observation ID comparison condition setting means 1 for setting timing and conditions performed by calculation means 7
2 to form a tracking processing device.

In this embodiment, the gate determination means 5, the cluster new / integration means 6, and the wake calculation means 7
With reference to the D comparison condition setting means 12, the observation ID and the local ID are compared at the designated place during the tracking calculation.

In the first embodiment, the wake calculation means 7 calculates the wake correlation matrix, calculates the reliability of the wake, and generates the hypothesis as the timing for comparing the system observation ID and the local observation ID being calculated by the tracking processing means. Although the comparison was made at the timing immediately before the start of the calculation of the sub-optimization, in the present embodiment, in all the tracking processing means 5 to 7, at any timing during the calculation, the track observation table management means 3 sends the system observation ID And compares it with the value of the transmission observation ID. Other basic operations are the same as in the first embodiment.

As described above, in the present embodiment, the place where the cancellation determination of the tracking processing is performed can be arbitrarily designated. Accordingly, when the processing is canceled by inputting the observation point information, the timing of the cancellation determination can be arbitrarily set, and there is an advantage that the design of the external device can be flexibly performed.

Embodiment 3 Hereinafter, a tracking processing apparatus according to Embodiment 3 of the present invention will be described with reference to FIG. FIG. 10 is a block diagram showing a configuration of the third embodiment of the present invention. In FIG. 10, a tracking processing device is configured by adding a notification information setting unit 13 for setting information and conditions to be fed back to the observation point information input device 9 to the configuration of FIG.

In this embodiment, the gate determination means 5, the cluster new / integration means 6, and the track calculation means 7 collect the information specified by the notification information setting means 13 and have the same information as the tracking information in the first embodiment. Thus, it is recorded in the track calculation table management means 3.

In the present embodiment, the track calculation table management means 3 has a table for recording the information specified by the notification information setting means 13. The tracking calculation information notifying unit 11
The information specified by the notification information setting means 13 is referred to the track calculation table management means 3, and the contents are referred to the observation point information input device 9.
Notify. Other basic operations are the same as in the first embodiment.

As described above, according to the present apparatus, in the tracking processing device capable of canceling, the notification information setting means 13 provides feedback to the observation point information input device 9 which instructs tracking cancellation by inputting observation point information. By specifying information and conditions to be provided, arbitrary information in the tracking processing device can be provided. This has the advantage that the observation point information input device 9 for instructing the tracking cancellation increases the criteria for selecting the observation point information, so that a more accurate tracking processing status can be grasped.

Embodiment 4 Hereinafter, a tracking processing device according to Embodiment 4 of the present invention will be described with reference to FIG. FIG. 11 is a block diagram showing a configuration of the fourth embodiment of the present invention. In FIG. 11, a tracking processing device is configured by adding a calculation history recording unit 14, an observation point information storage unit 15, and a tracking calculation result storage unit 16 to the configuration of FIG.

In this embodiment, the calculation history recording means 1
Reference numeral 4 records the presence / absence (completion or cancellation) of tracking calculation for each observation point information.

The tracking calculation control means 2 notifies the observation point information storage means 15 of the observation point information when the observation point information is input. The observation point information storage means 15 that has received the notification,
Record all observation point information for which notification was received.

When updating the cluster information, the cluster new / integrating means 6 notifies the tracking calculation result accumulation means 16 of the updated information. Further, the track determination unit 8 notifies the tracking calculation result storage unit 16 of the information on the selected track. The tracking calculation result accumulating means 16 records the notified cluster update history and wake history.

Other operations are the same as those of the first embodiment.

As described above, according to the present embodiment, in the tracking processing device capable of canceling,
Since the input information to the device and the calculation result of the device can be recorded,
Thereby, there is an advantage that information for verifying whether the determination of the tracking cancellation is correct can be collected. Also, there is an advantage that information serving as a criterion when improving the tracking canceling method can be collected.

Embodiment 5 Hereinafter, a tracking processing device according to a fifth embodiment of the present invention will be described with reference to FIG. FIG.
FIG. 2 is a block diagram showing a configuration of a fifth embodiment of the present invention. In FIG. 12, a tracking processing device is configured by adding the tracking time prediction unit 17 and the notification information setting unit 13 described in the second embodiment to the configuration of FIG.

In this embodiment, the tracking time prediction means 1
7 instructs the gate determination means 5 and the cluster new / integration means 6 to collect data necessary for estimating the time required for tracking calculation. In this embodiment, an instruction is given by setting data to be used by itself in the notification information setting means 13. The data collected in this example includes the result of inside / outside gate determination for each track, the number of target clusters, the number of tracks held by each cluster, and the number of hypotheses.

The gate determining means 5 and the cluster new / integrating means 6 which have received the instruction record the collected data in the track calculation table managing means 3. The track calculation table management means 3 notifies the tracking time prediction means 17 when the data for tracking prediction is completed. The tracking time prediction unit 17 that has received the notification predicts the time required for tracking calculation using the inside / outside gate determination result for each track, the number of target clusters, the number of tracks held by each cluster, and the number of hypotheses. In general, when predicting the load of the tracking calculation, rather than predicting only the observation point information (the number of observation points) and the number of existing wakes and hypotheses, the result of the judgment inside and outside the gate, the number of target clusters, It is more accurate to make predictions using the number of tracks and hypotheses held by.
Operations other than the above are the same as those of the first embodiment.

As described above, in the tracking processing apparatus capable of canceling, the tracking processing currently being executed is performed by using the inside / outside gate determination result, the number of target clusters, the number of wakes held by each cluster, and the number of hypotheses. There is an advantage that the time required for the calculation can be accurately estimated.

Embodiment 6 FIG. Hereinafter, a tracking processing device according to a sixth embodiment of the present invention will be described with reference to FIG. FIG.
FIG. 3 is a block diagram showing a configuration of the sixth embodiment of the present invention. In FIG. 13, a tracking processing device is configured by adding a tracking time measuring unit 18 and a tracking prediction correcting unit 19 to the configuration of FIG.

In this embodiment, the tracking time measuring means 1
8 monitors the gate determination means 5 and the track calculation means 7 to know the start and end of the tracking calculation, and records the time. The tracking calculation time is measured based on this time.

The tracking prediction correcting means 19 compares the tracking calculation time predicted by the tracking time predicting means 17 with the tracking calculation time measured by the tracking time measuring means 18, and the tracking time predicting means 17 gives the prediction parameters and the like. Instruct change of prediction method. Here, it is assumed that the tracking prediction correcting means 19 holds in advance a criterion for instructing a change. Other operations are described in the fifth embodiment.
Is the same as

As described above, according to the present apparatus, in the tracking processing apparatus capable of canceling, by comparing the predicted time of the tracking calculation with the time actually taken, it is possible to more accurately estimate the prediction of the tracking calculation. There is an advantage that you can.

Embodiment 7 FIG. Hereinafter, a seventh embodiment of the present invention will be described with reference to FIG. FIG. 14 is a block diagram showing a configuration of the seventh embodiment of the present invention. In FIG. 14, when the observation point information is input, an advance gate determination correspondence type tracking calculation control unit 20 having an extended function of predicting the processing load of the tracking calculation in advance independently of the canceling process,
The track table management means 21 corresponding to the advance gate determination and the gate determination means 22 corresponding to the advance gate determination include the cluster table management means 4 and the new cluster integration / integration means 6 shown in FIG.
The track processing means 7, the track determination means 8, the observation point information input device 9, the track display device 10, and the tracking calculation information notification means 11 constitute a tracking processing device.

FIG. 15 and FIG. 16 are flowcharts of the tracking calculation control means 20 and the track calculation table management means 21 in advance according to the present embodiment.

In this embodiment, the operation of canceling the tracking by the advance gate determination correspondence type tracking calculation control means 20 and the advance gate decision correspondence type track calculation table management means 21 is the same as that of the tracking calculation control means 2 of the first embodiment. This is different from the operation of the calculation table management means 3.

First, the operations of the advance gate determination-compatible tracking calculation control means 20 and the advance gate determination-compatible gate determination means 22 will be described with reference to FIG. When the observation point information is input (step S51), the advance gate determination correspondence tracking calculation control means 20 sets the observation ID and sets the advance gate decision correspondence tracking calculation table management means 21 as in the first embodiment. At the same time, and passes the observation ID and the observation point information to the gate determination means 22 corresponding to the preliminary gate determination (step S
52). In the following, for the sake of explanation, the observation ID set by the advance gate determination correspondence type tracking calculation control means 20 is referred to as “gate observation ID”.

Next, the state of the tracking processing device 1 is checked for confirmation (step S53). If there is no tracking calculation currently being executed by the tracking processing device 1 (initial state), the tracking calculation control with advance gate determination is performed. The means 20 makes a transition to a "waiting state for gate determination without cancellation" (step S54).

The pre-gate decision corresponding gate determining means 22 having received the gate observation ID and the observation point information performs the gate decision calculation in the same manner as in the first embodiment, and compares the result with the pre-gate decision corresponding track calculation table managing means. Write to 21. At the end of the calculation, the result is written only to the pre-gate judgment correspondence type track calculation table management means 21 and the calculation result and the transmission observation ID are not transmitted to the cluster new establishment / integration means 6 according to the first embodiment. Different from 5. Observation I
The difference from the gate determination means 5 of the first embodiment is that calculation cancellation using D is not performed. Other operations are
This is the same as Embodiment 1 except that the transmission observation ID is replaced with the gate observation ID.

The gate determination in the gate determination unit 22 corresponding to the advance gate determination is performed based on the information held by the new cluster integration / integration unit 6 in the existing field. For this reason, when the tracking calculation is currently being performed, the determination is performed based on the immediately preceding calculation result that was the reference for the current calculation.

[0108] The advance-gate-judgment-compatible trajectory calculation table management means 21 notifies the tracking calculation control means 20 of the advance-gate-judgment type when this is written.

"Waiting state for gate determination without cancellation"
Then, the advance gate determination correspondence type tracking calculation control means 20, which has received the gate decision end notification, instructs the advance gate decision correspondence type track calculation table management means 21 to proceed with the tracking calculation. After the instruction, the tracking calculation control means 20 corresponding to the advance gate determination,
The state transits to the “tracking in progress” state (step S55). Note that in the “waiting for gate determination without cancellation” state, the input from the observation point information input device 9 is blocked and received immediately after the transition to the next state.

When the tracking calculation is completed, a notification of the completion of the calculation is received from the track calculation table managing means 21 corresponding to the advance gate determination (step S51), and a check of the state of the tracking processing device 1 is confirmed (step S56). If the tracking is in progress, the state transits to the "initial state" (step S57).

Tracking calculation control means 2 corresponding to advance gate determination
0 is a “tracking in progress” state, and when observation point information is input, a gate is calculated by the advance gate determination correspondence type track calculation table management means 21 and the advance gate decision correspondence type gate determination means 22 as in the “initial state”. After transmitting the observation ID and observation point information,
The state transits to the "waiting gate determination state with cancellation" (step S60).

"Waiting state for gate determination with cancellation"
Then, the advance gate determination correspondence type tracking calculation control means 20 having received the gate determination end notification,
Instruct the observation point information input device 9 to transmit the gate determination result on the wake calculation table management means 21 corresponding to the advance gate determination by instructing the observation point information input device 9. Thereafter, the tracking calculation control unit 20 corresponding to the advance gate determination transits to the “cancel determination waiting state” (step S61). It should be noted that the input from the observation point information input device 9 is also blocked in the “waiting gate determination with cancellation” state.

When the cancel instruction is received from the observation point information input device 9 in the “waiting for cancellation determination” (step S51), the tracking calculation currently being calculated is canceled and the observation point corresponding to the gate observation ID is canceled. Instruction to start tracking calculation using information (step S6)
2). Here, the gate observation ID is set to the system observation ID to the track calculation table management means 21 corresponding to the advance gate determination, and an instruction is issued to execute cancellation in the same procedure as in the first embodiment. Thereafter, the tracking calculation control unit 20 corresponding to the advance gate determination transits to the “tracking in progress” state (step S61).

When the input of the new observation point information is received from the observation point information input device 9 in the “waiting for cancel determination” state, the observation point information for which the gate judgment was performed (information corresponding to the current gate observation ID). Is canceled, and an instruction is given to start the gate determination with the new observation point information. The processing for the new observation point here is as described above.
The state transits to a "gate cancellation waiting state".

In the "waiting for cancel determination" state, when a calculation end notification is received from the track calculation table managing means 21 corresponding to the advance gate determination, the tracking calculation information notifying means 11 is instructed, and the observation for which the gate is determined is performed. A point information re-input request is issued (step S58), and the state transits to the “initial state” (step S57).

FIG. 16 shows the operation of the track calculation table management means 21 corresponding to the advance gate judgment. First, when receiving the observation ID from the advance gate determination corresponding tracking calculation control means 20 (step S71), the preliminary gate determination compatible track calculation table management means 21 records the received observation ID as the gate observation ID (step S71). S72).

Next, when the gate determination result is received from the gate determination unit 22 corresponding to the advance gate determination, the determination result is temporarily recorded and notified to the tracking calculation control unit 20 corresponding to the advance gate determination (step S73).

Thereafter, the following processing is performed according to the content of the input received from the tracking calculation control means 20 corresponding to the advance gate determination.

Tracking calculation control means 2 corresponding to advance gate determination
When the tracking calculation is instructed from 0 (step S71), the value of the gate observation ID is set as the system observation ID (step S74). Next, it is confirmed that the content of the instruction is the progress of the tracking calculation (step S75),
The system observation ID is notified to the cluster table management means 4 (step S76).

The value of the gate observation ID is transmitted.
And transfers the temporarily recorded gate determination result and transmission observation ID to the cluster new / integration means 6 and transits to the "track calculation in progress" state (step S77). After receiving the gate determination result and the transmission observation ID, the cluster new establishment / integration means 6 and the track calculation means 7 execute tracking calculation in the same procedure as in the first embodiment.

Tracking calculation control means 2 corresponding to advance gate determination
When the cancellation of the tracking calculation currently being calculated is instructed from 0 (step S71), the value of the gate observation ID is set as the system observation ID (step S74), and the current tracking is performed in the same procedure as in the first embodiment. Cancel the calculation,
The tracking calculation is started using the observation point information corresponding to the gate observation ID.

Next, it is confirmed that the content of the instruction is the progress of the tracking calculation (step S75), and the cluster table management means 4 is notified of the discard of the system observation ID and the update information (step S78).

Tracking calculation control means 2 corresponding to advance gate determination
When the observation ID is received from 0, the received observation ID is newly set as the gate observation ID. The system observation ID is not changed. For this reason, the tracking calculation being executed continues to be executed.

Also, the value of the gate observation ID is transmitted.
And transfers the temporarily recorded gate determination result and transmission observation ID to the cluster new / integration means 6 and transits to the "track calculation in progress" state (step S77).

Thereafter, the tracking calculation proceeds, and when a notification of calculation completion is received from the gate determination means 5, the cluster new / integration means 6, and the track calculation means 7, the contents of the calculation completion notification are checked (step S79). As a result of the check, if the calculation completion notification is “track calculation completion notification”, the execution status is changed to “waiting for observation point input” (step SS).
80) If it is the “new cluster construction / integration end notification”, the execution status is changed to “track calculation in progress” (step S81).

As described above, according to the present apparatus, in the tracking processing apparatus capable of canceling, the gate determination processing is performed before the cancellation, and the contents can be notified to the observation point information input apparatus. In the observation point information input device, by obtaining the inside / outside gate determination result, the time required for tracking calculation when the target observation point information is input can be known more accurately before the cancel instruction. This has an advantage that a guideline for more accurately determining whether or not to instruct whether to cancel tracking is obtained.

There is also an advantage that during the calculation for cancellation, the tracking calculation being executed can be executed as it is without being affected.

In this embodiment, an example has been described in which the input of observation point information is blocked during gate determination. However, even if input of observation point information is received during the gate determination part, the number of internal states may be increased. And the same effect as in the present embodiment can be obtained.

At this time, by using the same procedure as in the first embodiment using the gate observation ID, it is possible to configure the apparatus so that the processing is canceled even during the gate determination. Also, the same effect as in the present embodiment can be obtained.

Embodiment 8 FIG. Hereinafter, an eighth embodiment of the present invention will be described with reference to FIG. FIG. 17 is a block diagram showing a configuration of the eighth embodiment of the present invention. In FIG. 17, a tracking processing device is configured by adding observation point information temporary recording means 23 for temporarily storing input observation point information to the configuration of FIG.

In the pre-gate determination, 1 is currently being calculated.
The gate judgment is performed using the previous information. For this reason, in the seventh embodiment, when the tracking calculation is completed before the result of the preliminary gate determination is determined, the observation point information input device 9 is requested to input the same observation point again. Using this re-input information, the gate determination is performed again based on the tracking calculation that has just been completed. In this embodiment, however, the tracking calculation control unit 20 corresponding to the pre-gate determination uses the observation point information input device. When receiving the observation point information from 9, the contents are recorded in the observation point information temporary recording means 23.

Further, the tracking calculation control means 20 corresponding to the advance gate determination responds to a "waiting gate determination with cancellation" state.
When receiving the gate determination end notification, the content recorded in the observation point information temporary recording means 23 is used as new observation point information, a new gate observation ID is set, and It instructs the wake calculation table management means 21 to start the process. afterwards,
The state transits to the "cancel determination waiting state". Other operations are the same as in the seventh embodiment.

As described above, in the present apparatus, the observation point information is temporarily stored in the tracking processing, and by using the held information, the observation point information is not input from the observation point information input device 9 again. The gate determination can be performed again based on the tracking calculation that has just been completed. This has the advantage that the communication between the observation point information input device 9 and the tracking processing device can be reduced, the processing time can be reduced, and the processing load on the entire system can be reduced.

Embodiment 9 FIG. FIG. 18 is a block diagram showing a configuration of the ninth embodiment of the present invention. In FIG.
A tracking processing apparatus is configured by adding a cluster table management unit 24 with advance gate determination and a cluster new / integration unit 25 with advance gate determination to the configuration of FIG.

FIG. 19 is a flowchart of the cluster table management means 24 corresponding to the advance gate determination. The operation of the tracking calculation control means 20 corresponding to the advance gate determination is basically the same as in the seventh embodiment. However, the place to wait for the pre-execution processing of the tracking calculation is not to wait for gate determination, but to wait for new cluster integration / integration.

The operation of the track calculation table management means 21 corresponding to the advance gate determination is basically the same as that of the seventh embodiment. However, the place to notify the advance calculation processing of the tracking calculation to the tracking calculation control means 20 corresponding to the advance gate determination is not the gate determination but the cluster new establishment / integration wait.

Preliminary gate determination correspondence type gate determination means 22
Performs the gate determination calculation in the same manner as in the seventh embodiment.
Is different from the seventh embodiment in that the calculation result and the gate observation ID are transmitted to the third embodiment.

The cluster establishment / integration means 25 corresponding to the advance gate determination is provided by the gate determination means 22 corresponding to the advance gate determination.
When the gate determination result and the gate observation ID are received from, a new cluster integration / integration calculation is performed as in the seventh embodiment.
At the end of this calculation, the result is written only in the cluster table management means 24 corresponding to the advance gate determination, and the calculation result and the transmission observation ID are not transmitted to the wake calculation means 7. Other operations are the same as those of the cluster new / integrating means 6 of the seventh embodiment, except that the transmission observation ID is replaced with the gate observation ID.

The operation of the cluster table management means 24 corresponding to the advance gate determination will be described with reference to FIG.

The cluster table management means 24 corresponding to the advance gate determination has a field for advance gate determination in addition to the cluster table management means 4 of the first embodiment. The contents of the notification from the cluster establishment / integration means 25 corresponding to the advance gate determination are recorded in this advance gate determination field.

The advance gate judgment correspondence type cluster table management means 24 includes the advance gate judgment correspondence type track calculation table management means 2
When an instruction to cancel the tracking calculation being executed by the track calculation means 7 from the tracking calculation control means 20 corresponding to the advance gate determination transmitted via 1 is issued (step S92), the local observation ID is replaced with the gate observation ID. Then, the value of the advance gate determination field is copied to the update field (steps S92 and S93).

After that, the trajectory calculation means 7 is instructed to start the tracking calculation using the observation point information corresponding to the gate observation ID via the voyage calculation table management means 21 corresponding to the preliminary gate determination.

As described above, according to the present apparatus, in the tracking processing apparatus capable of canceling, the gate determination processing and the cluster establishment / integration are performed before the cancellation, and the contents can be notified to the observation point information input apparatus 9. By adding the cluster new / integrated information in addition to the gate determination, there is an advantage that more detailed information serving as a reference for tracking calculation can be provided.

In this embodiment, an example has been described in which the input of the observation point information is blocked during the gate judgment and during the cluster establishment / integration. This can be dealt with by increasing the number of internal states, and the same effect as in the present embodiment can be obtained.

At this time, by using the gate observation ID and using the same procedure as in the first embodiment, the apparatus can be configured to cancel the processing even during the gate determination and the cluster establishment / integration. In this case, the same effect as in the present embodiment can be obtained.

In the present embodiment, an example of adding functions to the seventh embodiment has been described. However, in the eighth embodiment, the cluster table management means 24 corresponding to the advance gate determination and the new cluster integration Even when the tracking device is configured by adding the means 25, the same effect as in the present embodiment can be obtained. In this case, as in Embodiment 8, the observation point information is temporarily held inside the tracking processing, and the processing is completed without inputting the observation point information again from the observation point information input device using the held information. The gate determination can be executed again based on the tracking calculation just performed.

Embodiment 10 FIG. FIG. 20 is a block diagram showing a configuration of the tenth embodiment of the present invention. In FIG. 20, a tracking device is configured by adding the tracking time prediction means 17 to the configuration of FIG.

In this embodiment, the tracking time predicting means 17 predicts the execution time of the wake calculation using the gate determination calculated in the preliminary determination and the information on the new / integrated cluster. Other operations are the same as those in the ninth embodiment.

As described above, according to the present apparatus, in the tracking processing apparatus capable of canceling, the gate determination processing and the new cluster integration / integration are performed before the cancellation, and the predicted time of the tracking calculation can be calculated based on the contents. Thus, there is an advantage that the prediction time of the tracking calculation can be calculated more accurately and before the cancel instruction.

In the present embodiment, an example in which functions are added to the ninth embodiment has been described. However, a tracking device is configured by adding a tracking time prediction means 17 to the seventh or eighth embodiment. Can obtain the same effect.

Embodiment 11 FIG. FIG. 21 is a block diagram showing a configuration of the eleventh embodiment of the present invention. In FIG. 21, a tracking processing device is configured by adding a tracking calculation time setting unit 26 and a tracking canceling unit 27 to the configuration of FIG.

In this embodiment, the tracking cancellation means 27 determines whether or not to cancel the processing inquired of the observation point information input device 9 in the seventh embodiment by the determination conditions set in the tracking calculation time setting means 26, Tracking time prediction means 1
7 is compared with the predicted time of the track calculation calculated. The method in which the tracking calculation control means 20 corresponding to the advance gate determination cancels based on the determination result of the tracking cancellation means 27 is the same as in the seventh embodiment. The setting of the determination condition in the tracking calculation time setting means 26 is performed by the observation point information input device 9.

Note that the method of estimating the wake calculation by the tracking time estimating means 17 is the same as that of the tenth embodiment.

As described above, in the present apparatus, when the observation point information is input, the tracking calculation time is predicted independently of the tracking calculation being executed, and the given time constraint condition is used.
There is an advantage that a tracking processing device capable of determining cancellation of tracking calculation can be obtained. In this device, cancellation can be determined without inquiring of the observation point information input device 9, and there is an effect that the time until cancellation can be shortened. In addition, there is an effect that communication according to the determination of cancellation can be reduced and the efficiency of the entire system can be improved.

In the present embodiment, an example of adding functions to the tenth embodiment has been described. However, in the seventh or eighth embodiment, the tracking time predicting means 17, the tracking calculation time setting means 26, and the tracking canceling means 27 are provided. The same effect can be obtained by configuring the tracking device by adding the following.

[0156]

According to the present invention, there is provided a tracking calculation control means for setting an observation ID with respect to observation point information input from the outside and controlling tracking calculation based on the observation point information. If the tracking calculation based on the previously input observation point information is being executed at the time when the input is input, the currently executed tracking calculation is cancelled, and based on the newly input observation point information. Tracking calculation control means for instructing to execute tracking calculation, observation ID storage means for storing the latest observation ID, and tracking calculation under control of the tracking calculation control means, and the observation ID currently being calculated is replaced with the local ID. Tracking calculation execution means for comparing the latest observation ID in the observation ID storage means with the local ID and continuing the tracking calculation process when the two coincide with each other; A cluster table management unit that manages the information divided into update information during tracking calculation and existing information that has been calculated, and a tracking calculation execution unit that manages an execution state of the tracking calculation process, and a tracking calculation control unit. When the instruction to cancel the tracking calculation is input, the tracking processing device includes a track calculation table management unit that instructs the cluster table management unit to discard the update information during the tracking calculation. During the calculation of the process, when new observation point information is input, the current calculation can be canceled and the tracking calculation can be restarted using the new observation point information, for example, multiple sensors that operate independently Even when the observation point information arrives at a certain point from a certain time, the tracking processing with high accuracy can be performed while satisfying the real-time request.

Further, since the observation ID comparison and setting means for setting the timing for comparing the observation ID with the local ID by the tracking calculation execution means is further provided, the cancellation ID can be arbitrarily set by the observation ID comparison and setting means. There is an advantage that the setting can be performed, and the design of the external device can be flexibly performed.

Further, the apparatus further comprises feedback means for feeding back predetermined information to an external device for inputting observation point information to the tracking calculation control means, and notification information setting means for designating predetermined information to be fed back. It is possible to provide arbitrary information in the tracking processing device to an external device that outputs observation point information, whereby a device that outputs an observation point, that is, a device that instructs tracking cancellation, is used as a criterion. And the more accurate tracking process status can be grasped.

Further, calculation history recording means for recording a tracking calculation history indicating completion or cancellation of tracking calculation of each observation point information, observation point information storage means for recording all inputted observation point information, and execution of tracking calculation And a tracking calculation result accumulating means for recording the calculation result of the track obtained by the means, so that it is possible to record whether or not the tracking processing has been canceled, input information to the device, and a calculation result of the device. ,
Thereby, there is an advantage that information for verifying whether the determination of the cancellation of the tracking processing is correct can be collected, and information serving as a determination criterion can be collected when the tracking cancellation method is improved.

Further, the tracking calculation executing means determines whether or not the observation point based on the input observation point information is included in the target predicted position range. Generate a new cluster of observation points if the observation point is not included in the predicted position range,
Further, when a plurality of tracks included in another cluster have a common observation point, these clusters are integrated, and a cluster new establishment / integration unit that outputs information on the number of hypotheses and the number of tracks included in the cluster is provided. Tracking time prediction means for predicting the time required for tracking calculation for the input observation point information, using the tracking inside / outside judgment result and the information on the number of hypotheses and the number of wakes included in the cluster. Is further provided, so that there is an advantage that the time required for the tracking calculation currently being executed can be more accurately estimated.

Further, the tracking time measuring means for measuring the time required for the tracking calculation and the predicted time of the tracking time predicting means are compared with the measured time of the tracking time measuring means, and the prediction is corrected by the tracking time predicting means. Since the apparatus further includes the tracking prediction correcting means for instructing, there is an advantage that the prediction of the tracking calculation can be more accurately estimated by comparing the predicted time of the tracking calculation with the time actually taken.

Further, the tracking calculation control means instructs the tracking calculation execution means to perform the gate determination processing by the gate determination unit in advance when the observation point information is input, independently of the tracking calculation cancel processing. Since the first prior gate determination corresponding function is further provided, the tracking calculation executing means performs the gate determination processing in advance independently of the cancellation processing based on the instruction, and records the determination result in the track calculation table management means, The tracking calculation execution means performs the gate determination processing in advance independently of the cancellation processing based on the instruction, and temporarily records the determination result in the track calculation table management means, so that the gate determination processing is performed before canceling the tracking processing. By performing the processing, the time required for the tracking time can be known more accurately before the cancel instruction from the inside / outside gate determination result obtained thereby.

Further, since observation point information temporary recording means for temporarily storing the input observation point information is further provided, the observation point information is temporarily stored, and the observation information can be obtained by using the stored information. Without inputting the observation point information again from the external device that inputs the points, it is possible to execute the gate determination again based on the tracking calculation that has just been completed, reduce the communication between the external device and the tracking processing device, There are advantages that the processing time can be reduced and the processing load on the entire system can be reduced.

[0164] The tracking calculation control means may perform the gate determination processing and the cluster new / integration processing in advance when the observation point information is input, independently of the tracking calculation cancellation processing. The tracking calculation executing means performs gate determination and cluster new / integration processing in advance independently of the cancellation processing based on the instruction, and outputs the gate determination result based on the instruction. Since the result of the cluster establishment / integration is recorded in the cluster table management unit, the gate determination and the cluster establishment / integration process are performed before canceling, and the estimated time of the tracking calculation is calculated based on the contents. Is calculated, whereby there is an advantage that the predicted time of the tracking calculation can be calculated more accurately and before the cancel instruction.

Further, since the apparatus further comprises a tracking time prediction means for predicting the calculation time for the input observation point information, the prediction time for the tracking calculation can be calculated more accurately and before the cancel instruction. Can be.

Further, since tracking calculation time setting means for setting a time until the end of tracking calculation and tracking canceling means for canceling tracking calculation based on information in the tracking processing device are further provided, tracking during execution is performed. The tracking calculation time is predicted independently of the calculation, and the cancellation of the tracking calculation can be determined using the given time constraint, so that the cancellation can be determined without an inquiry to an external device. Yes, you can reduce the time to cancel,
Furthermore, since the communication with the external device due to the determination of cancellation can be reduced, there is an advantage that the efficiency of the entire system can be improved.

According to the present invention, an observation ID is set for observation point information input from the outside, and when observation point information is newly input, tracking calculation based on the previously input observation point information is performed. Is in the running state, cancels the running tracking calculation and instructs to execute the tracking calculation based on the newly input observation point information, thereby controlling the tracking calculation. A calculation control step, an observation ID storage step of storing the latest observation ID, and a tracking calculation based on the observation point information are performed, and the observation ID currently being calculated is set as a local ID, and the stored observation ID and local A tracking calculation execution step of continuing the tracking calculation process when the IDs are compared with each other and the two are matched, and dividing information to be held in the tracking calculation into update information during the tracking calculation and calculated existing information. And the cluster table management process that supervises as,
In addition to managing the execution state of the tracking calculation process in the tracking calculation execution process, when an instruction to cancel the tracking calculation in the tracking calculation control process is input, discarding the update information during the tracking calculation in the cluster table management process The tracking processing method is provided with a track calculation table management process that instructs the tracking process.When new tracking point information is input during tracking processing, the current calculation is canceled and new tracking point information is The tracking calculation can be resumed by using, for example, when observation point information arrives at a certain point from a plurality of independently operating sensors at a certain point in time, while satisfying the real-time requirements and maintaining accuracy. Tracking processing with high accuracy.

Further, since an observation ID comparison setting step of setting a timing for comparing the observation ID and the local ID in the tracking calculation execution step is further provided, the cancellation ID timing can be arbitrarily set by the observation ID comparison setting step. There is an advantage that the setting can be performed, and the design of the external device can be flexibly performed.

In the tracking calculation control step, there is further provided notification information setting means for designating information to be fed back to an external device which inputs observation point information from the outside, so that the external device which outputs observation point information can be provided. Thus, it is possible to provide arbitrary information in the tracking processing device, and thereby increase the determination criteria in an external device that outputs an observation point, that is, a device that instructs tracking cancellation, and increases the status of the tracking process more accurately. There is an advantage that can be grasped.

Also, a calculation history recording step of recording a tracking calculation history indicating completion or cancellation of tracking calculation of each observation point information, an observation point information accumulation step of recording all inputted observation point information, and a tracking calculation execution And a tracking calculation result accumulating step of recording the calculation result of the track obtained by the means, so that it is possible to record whether or not the tracking processing has been canceled, input information to the apparatus, and calculation results of the apparatus. ,
Thereby, there is an advantage that information for verifying whether the determination of the cancellation of the tracking processing is correct can be collected, and information serving as a determination criterion can be collected when the tracking cancellation method is improved.

Further, the tracking calculation executing step includes a gate determining step of determining whether the observation point based on the input observation point information is included in the target predicted position range, and a gate inside / outside determination result of the gate determining step. Generates a new cluster based on the observation point if the observation point is not included in the predicted position range, and integrates the clusters when multiple tracks included in another cluster have a common observation point. A cluster new / integration step of outputting information on the number of hypotheses and the number of wakes included in the cluster. And a tracking time prediction step for predicting the time required for tracking calculation for the input observation point information, so that the tracking calculation currently being executed is There is an advantage of being able to guess the hunt time more accurately.

The tracking time measuring step for measuring the time required for the tracking calculation, the predicted time of the tracking time predicting step and the measuring time of the tracking time measuring step are compared to correct the prediction in the tracking time predicting step. Since the method further includes a tracking prediction correction process for instructing, there is an advantage that the prediction of the tracking calculation can be more accurately estimated by comparing the predicted time of the tracking calculation with the time actually taken.

In the tracking calculation control step, when the observation point information is input, the gate determination processing in the gate determination step is performed in advance in the tracking calculation execution step independently of the cancellation processing of the tracking calculation. An instruction step is further provided, and in the tracking calculation execution step, based on the instruction, the gate determination processing is performed in advance independently of the cancellation processing, and the determination result is recorded in the track calculation table management step, so that the tracking processing is canceled. By performing the gate determination processing before, it is possible to know the time required for the tracking time from the gate inside / outside determination result obtained before the cancel instruction and more accurately.

Further, since the apparatus further includes an observation point information temporary recording step of temporarily storing the input observation point information, the observation point information is temporarily stored, and the observation information can be obtained by using the stored information. Without inputting the observation point information again from the external device that inputs the points, it is possible to execute the gate determination again based on the tracking calculation that has just been completed, reduce the communication between the external device and the tracking processing device, There are advantages that the processing time can be reduced and the processing load on the entire system can be reduced.

In the tracking calculation control step, when the observation point information is inputted, the tracking calculation execution means performs the gate determination processing and the cluster new / integration processing in advance independently of the tracking calculation cancellation processing. The method further includes a second preliminary gate determination corresponding step of instructing, and in the tracking calculation execution step, the gate determination and the cluster new / integration processing are performed in advance independently of the cancel processing based on the instruction, and the gate determination result is calculated as a wake calculation Since the result of cluster establishment / integration is recorded in the table management process, the gate determination and cluster establishment / integration process are performed before canceling, and the prediction time of the tracking calculation is calculated based on the contents. This makes it possible to calculate the predicted time of the tracking calculation before the cancellation instruction and more accurately. There is an advantage.

Further, since the apparatus further comprises a tracking time prediction step of predicting the calculation time for the input observation point information, the prediction time of the tracking calculation can be calculated more accurately and before the cancel instruction. Can be.

Further, since a tracking calculation time setting step for setting a time until the tracking calculation is completed and a tracking canceling step for canceling the tracking calculation based on information in the tracking processing device are further provided, tracking during execution is further performed. The tracking calculation time is predicted independently of the calculation, and the cancellation of the tracking calculation can be determined using the given time constraint, so that the cancellation can be determined without an inquiry to an external device. Yes, you can reduce the time to cancel,
Furthermore, since the communication with the external device due to the determination of cancellation can be reduced, there is an advantage that the efficiency of the entire system can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a tracking processing device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing an operation of a tracking calculation control unit in the tracking processing device according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing an operation of a track calculation table management means in the tracking processing device according to the first embodiment of the present invention.

FIG. 4 is a flowchart illustrating an operation of a cluster table management unit in the tracking processing device according to the first embodiment of the present invention.

FIG. 5 is a flowchart illustrating operations of a gate determination unit, a cluster new / integration unit, and a wake calculation unit in the tracking processing device according to the first embodiment of the present invention.

FIG. 6 is a diagram showing a basic flow of multi-target tracking calculation.

FIG. 7 is an explanatory diagram showing an example of a track calculation table in which track management table management means in the tracking processing device according to the first embodiment of the present invention internally stores information;

FIG. 8 is an explanatory diagram showing an example of information held by a cluster table management unit in the tracking processing device according to the first embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration of a tracking processing device according to Embodiment 2 of the present invention.

FIG. 10 is a block diagram showing a configuration of a tracking processing device according to Embodiment 3 of the present invention.

FIG. 11 is a block diagram showing a configuration of a tracking processing device according to Embodiment 4 of the present invention.

FIG. 12 is a block diagram showing a configuration of a tracking processing device according to Embodiment 5 of the present invention.

FIG. 13 is a block diagram showing a configuration of a tracking processing device according to Embodiment 6 of the present invention.

FIG. 14 is a block diagram showing a configuration of a tracking processing device according to a seventh embodiment of the present invention.

FIG. 15 is a flowchart illustrating an operation of a tracking calculation control unit that responds to advance gate determination in the tracking processing device according to the first embodiment of the present invention.

FIG. 16 is a flowchart showing an operation of a track calculation table managing means corresponding to advance gate determination in the tracking processing device according to the first embodiment of the present invention.

FIG. 17 is a block diagram showing a configuration of a tracking processing device according to Embodiment 8 of the present invention.

FIG. 18 is a block diagram showing a configuration of a tracking processing device according to Embodiment 9 of the present invention.

FIG. 19 is a flowchart showing an operation of a cluster table management unit corresponding to advance gate determination in the tracking processing device according to the ninth embodiment of the present invention.

FIG. 20 is a block diagram showing a configuration of a tracking processing device according to Embodiment 10 of the present invention.

FIG. 21 is a block diagram showing a configuration of a tracking processing device according to Embodiment 11 of the present invention.

[Explanation of symbols]

1 tracking processing device, 2 tracking calculation control means, 3 track calculation table management means, 4 cluster table management means, 5 gate judgment means, 6 cluster new construction and integration means, 7 track calculation means, 8 track determination means, 9 observation point information Input means, 10
Track display device, 11 tracking calculation information notification means, 12
Observation ID comparison condition setting means, 13 notification information setting means,
14 calculation history recording means, 15 observation point information storage means,
16 tracking calculation result accumulation means, 17 tracking time prediction means, 18 tracking time measurement means, 19 tracking prediction correction means,
20 tracking calculation control means corresponding to advance gate judgment, 21
Track calculation table management means for advance gate determination, 22 Gate determination means for advance gate determination, 23 observation point information temporary recording means, 24 cluster table management means for advance gate determination, 25 Means, 26 tracking calculation time setting means.

Claims (22)

[Claims] 1. A tracking calculation control means for setting an observation ID for observation point information input from the outside and controlling tracking calculation based on the observation point information, wherein the observation point information is newly input. At the time when the tracking calculation based on the previously input observation point information is being executed, the tracking calculation being executed is canceled, and based on the newly input observation point information. Tracking calculation control means for controlling to execute tracking calculation; observation ID storage means for storing the latest observation ID; and performing tracking calculation in accordance with the control of the tracking calculation control means.
The observation ID currently being calculated is held as the local ID,
The latest observation ID in the observation ID storage means is compared with the local ID at a predetermined timing during the tracking calculation, and when both match, the tracking calculation process is continued;
A tracking calculation execution means for interrupting the processing when they do not match, a cluster table management means for managing information to be held in the tracking calculation separately into update information during tracking calculation and calculated existing information, In addition to managing the execution state of the tracking calculation processing of the tracking calculation executing means, when an instruction to cancel the tracking calculation is input from the tracking calculation control means, the tracking calculation processing means And a wake calculation table management means for instructing to discard the update information in the tracking processing apparatus. 2. The observation I by the tracking calculation executing means.
2. The tracking processing device according to claim 1, further comprising an observation ID comparison setting unit that sets a timing of comparison between D and the local ID. 3. A feedback means for feeding back predetermined information to an external device for inputting the observation point information to the tracking calculation control means, and a notification information setting means for designating the predetermined information to be fed back. 2. The method according to claim 1, wherein
Or the tracking processing device according to 2. 4. A calculation history recording means for recording a tracking calculation history indicating completion or cancellation of tracking calculation of each of said observation point information; an observation point information storage means for recording all inputted observation point information; 4. The tracking processing device according to claim 1, further comprising a tracking calculation result storage unit that records a calculation result of the wake obtained by the calculation execution unit. 5. A gate determination unit for determining whether an observation point based on input observation point information is included in a target predicted position range, and a gate inside / outside determination of the gate determination unit. Based on the result, a new cluster is generated by the observation point when the observation point is not included in the predicted position range, and when a plurality of tracks included in another cluster have a common observation point, the new cluster is generated. A cluster new / integration unit for integrating clusters and outputting information on the number of hypotheses and the number of wakes included in the clusters, wherein the tracking processing device includes: Tracking time prediction means for predicting the time required for tracking calculation for the input observation point information using information on the number of hypotheses and the number of wakes. Tracking processing apparatus according to any one of claims 1 to 4 that. 6. A tracking time measuring means for measuring a time required for tracking calculation, and comparing a predicted time of the tracking time predicting means with a measured time of the tracking time measuring means, and predicting the time by the tracking time predicting means. 6. The tracking processing device according to claim 5, further comprising: a tracking prediction correction unit that instructs correction of the tracking prediction. 7. The tracking calculation control means executes the tracking calculation so that, when observation point information is input, a gate determination process by the gate determination unit is performed in advance independently of the cancellation process of the tracking calculation. The apparatus further comprises a first preliminary gate determination correspondence function instructing the means, wherein the tracking calculation execution means performs the gate determination processing in advance independently of the cancellation processing based on the instruction,
The tracking processing device according to claim 1, wherein the determination result is recorded in the track calculation table management means. 8. The tracking processing device according to claim 1, further comprising observation point information temporary recording means for temporarily storing the input observation point information. 9. The tracking calculation control means according to claim 1, wherein, when observation point information is input, said gate determination processing and said cluster new / integration processing are performed in advance independently of said cancellation processing of tracking calculation. The apparatus further comprises a second advance gate determination correspondence function for instructing the tracking calculation execution means, wherein the tracking calculation execution means performs the gate determination and cluster new establishment / integration processing in advance independently of the cancellation processing based on the instruction. The tracking processing according to any one of claims 1 to 8, wherein a gate determination result is recorded in the track calculation table management means, and the cluster new / integrated result is recorded in the cluster table management means. apparatus. 10. The tracking processing device according to claim 9, further comprising tracking time prediction means for predicting a calculation time for the input observation point information. 11. A tracking calculation time setting means for setting a time until the end of tracking calculation, and a tracking canceling means for canceling tracking calculation based on information in the tracking processing device. The tracking processing device according to claim 10. 12. An observation ID is set for observation point information input from the outside, and when the observation point information is newly input, tracking calculation based on the previously input observation point information is being executed. In the case of the tracking calculation, the tracking calculation that is being executed is canceled, and the tracking calculation that controls the tracking calculation is performed by instructing to perform the tracking calculation based on the newly input observation point information. A control step, an observation ID storage step of storing the latest observation ID, a tracking calculation based on the observation point information, an observation ID currently being calculated is set as a local ID, and the stored observation ID is stored. A tracking calculation execution step of continuing the tracking calculation process when the two match with each other and the local ID, and updating information in the tracking calculation with information to be held in the tracking calculation. A cluster table management step of managing the information separately from the existing information, and managing an execution state of the tracking calculation processing in the tracking calculation execution step, and an instruction to cancel the tracking calculation in the tracking calculation control step is input. A tracking calculation table management step of instructing the cluster table management step to discard the update information during the tracking calculation in the cluster table management step. 13. The tracking processing method according to claim 12, further comprising an observation ID comparison setting step of setting a timing at which the observation ID is compared with the local ID in the tracking calculation execution step. 14. The apparatus according to claim 12, further comprising notification information setting means for designating information to be fed back to an external device that inputs said observation point information from outside in said tracking calculation control step. The tracking processing method described. 15. A calculation history recording step of recording a tracking calculation history indicating completion or cancellation of tracking calculation of each observation point information, an observation point information accumulation step of recording all input observation point information, 15. The tracking processing method according to claim 12, further comprising: a tracking calculation result accumulating step of recording a calculation result of the track obtained by the calculation executing means. 16. A gate determination step for determining whether an observation point based on input observation point information is included in a target predicted position range, and a gate inside / outside determination of the gate determination step. Based on the result, a new cluster is generated by the observation point when the observation point is not included in the predicted position range, and when a plurality of tracks included in another cluster have a common observation point, the new cluster is generated. A cluster new / integration step of integrating clusters and outputting information on the number of hypotheses and the number of wakes included in the clusters, wherein the tracking processing method includes: A tracking time prediction step of predicting the time required for tracking calculation with respect to the input observation point information using the information on the number of hypotheses and the number of wakes. Tracking processing method according to any one of claims 12 to 15, characterized in that it comprises. 17. A tracking time measuring step for measuring the time required for tracking calculation, and comparing the predicted time of the tracking time predicting step with the measured time of the tracking time measuring step, and performing the prediction in the tracking time predicting step. 17. The tracking processing method according to claim 16, further comprising: a tracking prediction correcting step of instructing correction of the following. 18. The tracking calculation control step, when observation point information is input, performs a gate determination process in the gate determination step in advance in the tracking calculation execution process independently of the cancellation process of the tracking calculation. Further comprising the step of giving an instruction to perform, in the tracking calculation execution step, based on the instruction,
18. The tracking processing method according to claim 12, wherein the gate determination processing is performed in advance independently of the cancellation processing, and the determination result is recorded in the track calculation table management step. 19. The tracking processing method according to claim 12, further comprising an observation point information temporary recording step of temporarily storing the input observation point information. 20. The tracking calculation control step, wherein when the observation point information is input, the gate determination processing and the cluster new / integration processing are performed in advance independently of the cancellation processing of the tracking calculation. The apparatus further includes a second preliminary gate determination corresponding step of instructing the tracking calculation execution means, and in the tracking calculation execution step, based on the instruction,
The gate determination and the cluster establishment / integration processing are performed in advance independently of the cancellation processing, and the gate determination result is recorded in the track calculation table management step, and the cluster establishment / integration result is recorded in the cluster table management step. 20. The tracking processing method according to claim 12, wherein: 21. The tracking processing method according to claim 20, further comprising a tracking time prediction step of predicting a calculation time for the input observation point information. 22. A tracking calculation time setting step for setting a time until the end of tracking calculation, and a tracking cancellation step for canceling tracking calculation based on information in the tracking processing device. 21. The tracking processing method according to 21.