JP4153625B2 - Motion prediction device - Google Patents

Motion prediction device Download PDF

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Publication number
JP4153625B2
JP4153625B2 JP23270699A JP23270699A JP4153625B2 JP 4153625 B2 JP4153625 B2 JP 4153625B2 JP 23270699 A JP23270699 A JP 23270699A JP 23270699 A JP23270699 A JP 23270699A JP 4153625 B2 JP4153625 B2 JP 4153625B2
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target
background
signal
motion prediction
prediction
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JP2001056375A (en
Inventor
喜男 加藤
秀雄 山口
晋一郎 山田
忠重 箱山
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株式会社トキメック
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motion prediction device that is used together with a radar device and performs motion prediction of a target such as a ship.
[0002]
[Prior art]
In a conventional motion prediction device that shows a target motion trend from a radar image, for example, a collision prevention assistance device for a ship, a target is received automatically or automatically by receiving a signal from the radar device or the like. The target is tracked, and based on the information of the time change of the target position obtained as a result, the movement tendency of the target, that is, the course, the speed, the closest point, and the like are calculated and displayed. The target position information used for calculating the target motion trend is unstable because it contains errors based on the characteristics of the radar signal, and in order to estimate a stable target motion trend, a filter process is used. It is necessary to apply.
[0003]
[Problems to be solved by the invention]
However, this filtering process takes time, and it usually takes about 1 to 3 minutes to obtain a stable target movement tendency. Therefore, the target movement tendency, especially the possibility of collision with the target, is considered. There is a problem that desired information cannot be obtained even when it is desired to make an instantaneous determination. In particular, it is necessary to know the movement tendency of other ships instantly under an imminent situation where a dangerous situation is noticed only when the distance to the target is close.
[0004]
Therefore, in the past, since the target movement tendency could not be obtained instantaneously, it is assumed that it will become a dangerous target in the future, including a safe target, and many movement targets are tracked in advance and the movement tendency is displayed and used. It has been broken. However, in this case, a large amount of target data is displayed on the display screen, and it becomes difficult to distinguish between dangerous target information and safety target information, and there is a problem that the dangerous target may be overlooked. .
[0005]
The present invention has been made in view of such conventional problems, and prevents an unnecessary display from increasing on the display screen, and when it is desired to instantly know a necessary target movement tendency, the movement tendency is displayed at an early stage. It is an object of the present invention to provide a motion prediction device that can perform a motion.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the invention described in claim 1 includes a background target detection means for outputting a target position signal of a background target to be subjected to background processing from a radar signal,
Based on the target position signal from the background target detection means, continuously performing automatic tracking and motion prediction of the background target as background processing,
Based on the target position signal of the specified target specified for the purpose of obtaining a movement trend, the automatic tracking and movement prediction of the specified target are continuously performed as foreground processing,
A predicting means that can provide the movement tendency of the specified target obtained by the foreground processing to the outside,
The prediction means performs foreground processing by inheriting the results of automatic tracking and motion prediction that have been continuously performed as background processing when the specified target is a background target that is already in background processing. It is characterized by that.
[0007]
In this way, since the target signal is automatically tracked in advance by background processing and motion prediction is performed, when the target signal is specified as a specified target that needs to know the movement tendency, it continues as background processing. From the results of automatic tracking and motion prediction that are performed automatically, the motion tendency of the designated target can be instantaneously provided to the outside. The movement tendency of the designated target provided from the prediction means to the outside can be displayed on a display screen such as a display means. Since the movement tendency of the background target that is performing the background processing can be prevented from being displayed on the display screen, it is possible to prevent an unnecessary display from increasing.
[0008]
According to a second aspect of the present invention, in the first aspect, the background target detection means detects an intrusion target that has entered a predetermined first area as a background target, and a target position thereof. A signal is output.
[0009]
By appropriately setting the first region, automatic tracking and motion prediction can be performed using a target that may become a designated target in the future as a background target.
[0010]
In the invention according to claim 3, in the prediction means according to claim 1 or 2, when the newly designated designated target is already the designated target that is already in the foreground process, the foreground process is continuously performed. In addition, the results of automatic tracking and motion prediction are inherited as they are.
[0011]
From the results of automatic tracking and motion prediction that have been continuously performed as the foreground processing, the motion tendency of the designated target can be instantaneously provided to the outside.
[0012]
According to a fourth aspect of the present invention, in the prediction means according to any one of the first to third aspects, the newly designated designated target is a designated target already in the foreground process or a background in the background process. When it is not any of the ground targets, automatic tracking and motion prediction of the designated target are started based on the target position signal of the newly designated designated target.
[0013]
Further, in the invention according to claim 5, in the prediction means according to any one of claims 1 to 4, until a predetermined time elapses from the start of automatic tracking and motion prediction for each designated target, The movement tendency of the designated target is not provided to the outside. Since the movement tendency of the specified target is not provided to the outside from the start of automatic tracking and movement prediction until the predetermined time has elapsed, only a stable movement tendency is provided to the outside without displaying an unstable movement tendency immediately after the start. be able to.
[0014]
According to a sixth aspect of the present invention, in the apparatus according to any one of the first to fifth aspects, a target that has entered a predetermined second region is detected as a designated target, and the prediction means is And a second intrusion target detecting means for outputting a target position signal of the designated target detected in this way. By appropriately setting the second region, it is possible to perform automatic tracking and motion prediction using a target for which a motion tendency is desired as a foreground target.
[0015]
Further, in the invention according to claim 7, the background target detection means according to any one of claims 1 to 6 detects an intrusion target that has entered a predetermined first area as a background target. And output the target position signal,
A second intrusion target detecting means for detecting a target that has entered a predetermined second area as a designated target and outputting a target position signal of the designated target to the predicting means;
The second region is a partial region of the first region.
[0016]
Further, the invention according to claim 8 is directed to background processing when the predicting means according to any one of claims 1 to 7 determines that the background target during the background processing is a dangerous target. Inheriting the results of automatic tracking and motion prediction, which have been continuously performed, and changing to foreground processing.
[0017]
When a target that is automatically tracked by background processing falls into a dangerous state with the ship, it automatically becomes a foreground process, and its movement tendency is provided externally and displayed to the operator. It is possible to avoid a dangerous state in advance.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0019]
FIG. 1 is a block diagram showing a first embodiment of the motion prediction apparatus of the present invention. 1 includes an intrusion target detection unit 1, a designated target detection unit 21, a prediction unit 2, and a display unit 3.
[0020]
The intrusion target detection means 1 is a means for detecting a target to be automatically tracked and subject to motion prediction by background processing, and receives a radar signal including a radar video signal, a radar trigger signal, and an antenna direction signal from a radar apparatus. When a target to be detected such as a ship enters into a predetermined two-dimensional area (hereinafter referred to as an intrusion target detection area 13 (see FIG. 2)) from this radar signal, A position, for example, a relative distance and direction from the ship is detected and output to the prediction means 2 as a background target position signal.
[0021]
The designated target detection means 21 is a means for designating a target whose movement tendency is to be known in the radar image. Like the intrusion target detection means 1, the designated target detection means 21 receives a radar video signal, a radar trigger signal, and an antenna direction signal from the radar apparatus. If the operator selects and designates a target that should be noted on the radar image, for example, a target that is at risk of collision with the ship, in the case of a ship, the position of the designated target is received. For example, the relative distance and direction from the ship are detected and output to the predicting means 2 as a designated target position signal. This means can also use the function provided in the conventional collision prevention assistance apparatus for ships already equipped, for example. Alternatively, instead of the operator selecting and specifying a target, a ship or the like is detected in a predetermined two-dimensional area (hereinafter referred to as second intrusion target detection areas 19 and 20 (see FIG. 6)). When a target to be invaded, the position, for example, a relative distance and direction from the ship, is detected automatically as the specified target, and the specified target position signal is sent to the prediction means 2 May be output.
[0022]
The prediction means 2 automatically tracks this target (referred to as a background target) from the target background target position signal detected and captured by the intrusion target detection means 1 with the background target position signal as an initial value. The motion prediction result is continuously calculated, and it is determined whether or not the target (referred to as the designated target) matches the background target from the designated target position signal of the target designated by the designated target detecting means 21. If it matches, the motion prediction result of the target already calculated continuously is adopted as the motion prediction result of the specified target, and if there is no matching background target, the specified target position of the specified target It has a function of tracking the designated target with the signal as an initial value, calculating the motion prediction, and outputting the calculation result to the display means 3. Than is.
[0023]
The display means 3 can be constituted by a so-called radar display device with an ARPA function, etc., and receives a motion prediction result of the designated target together with the display of the radar image, and displays a symbol indicating the designated target position and a movement tendency. It is a display device having a function of displaying a vector symbol to be displayed and a motion prediction value by a numerical value.
[0024]
Hereinafter, each constituent means will be described in detail.
[0025]
First, the intrusion target detection unit 1 will be described. FIG. 2 shows a conceptual diagram of an intrusion target detection area 13 set in the radar display screen 12 of the display means 3 and an intrusion target image that has entered the area. In FIG. 2, the intrusion target detection area 13 is indicated by a broken line on the radar display screen 12. However, the area range may be explicitly displayed on the display screen as described above, and usually the area range is displayed. The area range may be displayed as necessary, for example, when there is a display request. Further, the intrusion target detection area 13 may be confirmed as a value of a set range, and may not be displayed as a symbol on the display screen. The designation of the intrusion target detection area 13 may be fixed in advance or may be variable so that the operator can set it. Furthermore, it is suitable for automatically designating an area on the sea surface based on the shoreline data obtained from a chart device (not shown) or for setting a predetermined restricted area, that is, an intrusion target detection area 13. An automatically suitable area may be set as the area of the intrusion target detection area 13 based on the limited area data that is not present.
[0026]
FIG. 3 shows an example of a detailed block diagram of the intrusion target detection unit 1, and the intrusion target detection unit 1 includes a sampling unit 4, a data storage unit 5, and a target determination unit 6. The sampling means 4 converts the radar video signal output for each sweep into a digital video signal at a sampling clock speed and bit width sufficient for target detection. The data storage means 5 is a memory for sequentially storing digital video signals, and stores reception signals corresponding to one transmission pulse of a radar signal or reception signals corresponding to several adjacent transmission pulses. The target judging means 6 is composed of a microprocessor or a DSP (Digital Signal Processor), refers to a digital video signal stored in the data storage means 5, and judges whether or not the signal therein is a target signal. It is. As a criterion for determining a target signal, for example, when a digital video signal is regarded as a two-dimensional video signal, whether the size of the video signal is a size suitable as a target in distance and azimuth direction, It is determined whether the detected video signal is more than a certain distance from the adjacent video signal. If it is determined that the determination criterion is satisfied, the target video is determined as the target video, and the direction and distance of the target video are determined. measure. Further, it is determined whether or not the azimuth and distance of the target video belongs to the intrusion target detection area 13, and if it belongs, it is output to the prediction means 2 as a background target position signal.
[0027]
FIG. 4 is another example of the intrusion target detection unit 1. The basis of the determination method in this example is the same as that of FIG. 3 described above, but is a method in which a part of the video signal size determination process is performed by hardware. The intrusion target detection unit 1 includes the sampling unit 4, The distance direction determination means 7 and the target determination means 8 are comprised. The distance direction determination means 7 is a means for determining the magnitude of the digital video signal output for each sweep from the sampling means 4 and outputting the distance where the target signal exists. For example, the distance direction determination means 7 increases the counter each time a signal having an intensity greater than a certain threshold is input, and clears the counter when the signal intensity falls below the certain threshold. Then, the magnitude of the target signal in the distance direction is measured as a counter value, and if the obtained counter value is a reference distance range, it is determined that the target signal exists, and the distance data of the target signal is determined as a target determination unit. 8 is output. The target determination means 8 is composed of a microprocessor or a DSP (Digital Signal Processor). The target determination means 8 receives the distance data of the distance direction determination means 7 and detects the size of the detected target in the azimuth direction, continuously. Then, it is determined whether or not the detection target is a signal suitable for performing target tracking. That is, it is determined whether the distance data from the distance direction determination means 7 is an output from the same target, and when it is determined that the output is from the same target, the continuity in the azimuth direction is measured, It is determined whether the signal is suitable as the target signal. Furthermore, it is determined whether or not the detected video signal is more than a certain distance from the adjacent video signal. If it is determined that the determination criterion is satisfied, the target video is determined as the target video, and the direction and distance of the target video are determined. Measure. Further, it is determined whether or not the azimuth and distance of the target video belongs to the intrusion target detection area 13, and if it belongs, it is output to the prediction means 2 as a background target position signal.
[0028]
In the case where the operator designates the target on the radar image using setting means such as joystick, the designated target detection means 21 uses the coordinates of the designated target in the radar image as the target orientation. Are converted into distances and output to the prediction means 2 as designated target position signals. Further, as shown in FIG. 6, when the target that has entered the second intrusion target detection areas 19 and 20 which are predetermined two-dimensional areas is set as the designated target, it is shown in FIG. 3 or FIG. A configuration similar to that of the intrusion target detection unit 1 can be taken. The same physical device as the intrusion target detection unit 1 may be used, or the intrusion target detection unit 1 and another physical device may be used. In this case, the determination criterion of the video signal magnitude determination processing by the target determination unit 8 may be the same as that in the case of detecting the background target, but may be a different criterion. For example, the continuity in the azimuth direction may not be used as a determination criterion, but the determination criterion may be whether the length in the distance direction is within the reference distance range. The second intrusion target detection areas 19 and 20 are preferably selected and set in particular to areas that are likely to be in a dangerous situation for the navigation of the ship. The second intrusion target detection area 20 is a two-dimensional area explicitly shown separately from the intrusion target detection area 13, and the second intrusion target detection area 19 is explicitly inside the intrusion target detection area 13. It is a set two-dimensional area. In general, the second intrusion target detection areas 19 and 20 are preferably set in a range narrower than the intrusion target detection area 13 in the intrusion target detection means 1.
[0029]
Then, the target position signal that has entered the second intrusion target detection areas 19 and 20 is input to the prediction means 2 as a designated target position signal.
[0030]
In the prediction means 2, mainly the background target position signal from the intrusion target detection means 1 is used as an initial value, and the background target signal is automatically detected and tracked from the radar video signal that is sequentially transmitted every antenna scan. The background tracking function that predicts the motion of the background target and the specified target position signal as the initial value automatically detects and tracks the specified target signal from the radar video signal that is sent sequentially for each antenna scan. A foreground tracking function that predicts a target motion and outputs a motion prediction result of the target. Specifically, as shown in FIG. 5, the configuration of the prediction unit 2 includes a target determination unit 9 that determines whether or not the background target position signal is from a target that is already being tracked, and a designated target position. The target determination means 10 for determining whether the signal is a target already tracked in the background processing, the target signal is detected from the radar signal, the target position is continuously tracked, and the motion of the target is detected. And target tracking / motion prediction means 11 for predicting a trend.
[0031]
A specific target tracking and motion prediction method by the prediction means 2 will be described below.
[0032]
First, when the target determination means 9 of the prediction means 2 receives a background target position signal from the intrusion target detection means 1, this background target position signal is from a target that is already in the tracking process. Judge whether or not. This tracking process is to determine whether a tracking process, which will be described later, is a background process or a foreground tracking process. More specifically, whether the input background target position matches the motion prediction position predicted by the target tracking / motion prediction means 11 described later (however, a certain range of margin is provided at the motion prediction position). If it matches, it is determined that the target is being tracked, and the background target position signal is ignored. On the other hand, if they do not coincide with each other, it is assumed that the target has newly entered the intrusion target detection area 13, the background target position signal is set as an initial value, and the data is registered as background processing data. A signal is sent to the prediction means 11.
[0033]
On the other hand, when the designated target position signal from the designated target detection means 21 is input, the target determination means 10 performs the following determination on the designated target position signal.
[0034]
(i) It is determined whether or not the specified target position signal is a target that is already being tracked by foreground processing. If it is determined that the target is being tracked in the foreground process, the tracking operation is ignored without performing a new operation, or if the operator specifically designates the target for which a new tracking request has occurred. The signal is sent to the target tracking / motion prediction means 11 so as to perform the tracking operation with the designated target position signal as an initial value.
[0035]
(ii) If the specified target position signal is not the target being tracked in the foreground process and is not the target being tracked in the background process, it is determined that a new tracking request has occurred and the designation is made. A signal is sent to the target tracking / motion prediction means 11 so that the target position signal is set as an initial value and the data is registered as foreground processing data.
[0036]
(iii) If it is determined that the specified target position signal is not the target being tracked by the foreground process and the target being tracked by the background process, the motion prediction data from the background process is processed as the foreground process. The signal is sent to the target tracking / motion prediction means 11 so as to output the stable target prediction result already obtained by the background processing as the prediction result of the designated target.
[0037]
It should be noted that whether or not the designated target position signal in the target judging means 10 is from a target being foreground processed or a target being background processed is determined by the target tracking / motion prediction means described later. 11 is determined based on whether the predicted motion position matches the predicted motion position (however, a certain range of margin is provided at the predicted motion position).
[0038]
For the targets newly registered as background processing data or foreground processing data by the target determination means 9, 10, automatic tracking and motion prediction operations are started in the target tracking / motion prediction means 11.
[0039]
The target tracking / motion prediction means 11 can track and predict a plurality of targets, and calculation data necessary for motion prediction is managed independently for each target. At this time, data management is performed so that it is possible to identify whether the target that is performing target tracking is a target that is performing foreground processing or a target that is performing background processing. As a data management method, a table for managing target foreground processing calculation data corresponding to the foreground tracking function and a table for managing target background processing calculation data corresponding to the background tracking function are prepared separately. Data management is performed or the table is common, but flag data for identifying whether the target is foreground processing or the target for background processing is prepared in one item of the table You may make it manage.
[0040]
The target tracking / motion prediction means 11 automatically detects and tracks the target signal from the radar video signal sequentially transmitted from the radar apparatus every antenna scan, and predicts the target motion. For example, an α-β filter described in Japanese Patent Application Laid-Open No. 63-196816 is known as a prediction filter for tracking a target from sequentially obtained target positions and obtaining a primary predicted relative velocity. The target motion prediction by the α-β filter is expressed by the following equation.
[0041]
[Expression 1]
Xs (k) = Xp (k) + α [Xm (k) -Xp (k)]
Vs (k) = Vs (k-1) + β [Xm (k) -Xp (k)] / [T (k) -T (k-1)]
Xp (k + 1) = Xs (k) + Vs (k-1) ・ [T (k) -T (k-1)]
Here, Xm: target position, Xp: target predicted position, α, β: filter constant, Xs: target smooth position, Vs: target primary predicted relative speed, T: observation time.
[0042]
Each time the target position Xm (k) is observed, the target tracking / motion prediction means 11 calculates a predicted position Xp (k + 1) where the target exists at the next antenna scan, and the timing of the next antenna scan. Then, the radar signal near Xp (k + 1) is sampled and the tracking operation is repeated continuously. Further, the target primary predicted relative speed obtained here is filtered to calculate a target predicted speed that represents the target motion tendency. The filter used here is a filter having a low-pass characteristic (smoothing characteristic), and an appropriate frequency characteristic is selected from a characteristic for smoothing a prediction error due to a sensor error and a follow-up performance for a target needle movement. Due to the nature of the radar signal, a low pass filter with a relatively long time constant is required to calculate a stable target prediction speed. In general, in the case of marine radar, a stable prediction value is obtained. It usually takes about 1 to 3 minutes.
[0043]
The target tracking / motion prediction means 11 sends the calculated target prediction speed as prediction vector data to the display means 3 only for a target for which a foreground process has been performed and for which a fixed time has elapsed since the start of tracking. The prediction vector may be displayed on the display means 3. For the target for which background processing is being performed or the target for which foreground processing has been performed and for which the tracking has not started for a certain period of time, the calculated target predicted speed may not be sent to the display means 3. good.
[0044]
FIG. 2 is a video example of the radar display screen of the display means 3. Explain the tracking start status of the specified target. The initial capture target 17 in FIG. 2 is not a background target but a normally designated target, and is an image of a so-called initial capture state immediately after target tracking. Since it is not possible to calculate a normally stable target movement tendency in the initial capture state, only the tracking symbols surrounding the tracking target are displayed as shown. The tracking target 18 is an image of a designated target that has passed a predetermined time after the initial capture. A stable predicted speed is obtained through the low-pass filter, and the movement tendency of the target target is displayed as a predicted vector.
[0045]
On the other hand, the intrusion target video 15 is a target that has entered the intrusion target detection area 13 and is subject to background processing. Although the motion prediction result has already been calculated, since background processing is performed, symbol display relating to motion prediction is not performed. The initial capture target 16 is an image immediately after making a request for initial capture and making it a designated target with respect to the target during background processing, like the intrusion target 15. Since the result of the background processing is displayed as an initial value, a vector display that instantly indicates the tendency of movement is possible.
[0046]
In this way, many targets for which a tracking request may be issued in the future are automatically detected and tracked by background processing, and the calculation results are shown as background processing data without explicitly showing the operator. Stored and when a new target tracking request is generated by the operator, if the target matches the target already tracked by background processing, the background processing result is instantly displayed as the initial value. By doing so, it is possible to display a stable target motion prediction result from the initial value, and to present an accurate target motion trend to the operator at an early stage.
[0047]
In addition to the embodiment described above, when the target during background processing becomes a dangerous ship, it can be automatically changed to foreground processing. That is, the automatic tracking / motion prediction unit 11 of the prediction unit 2 performs motion prediction of the tracking target, and then determines whether the tracking target is dangerous from the relative motion between the tracking target and the ship. For example, the target DCPA (Distance to Closest Point of Approach), TCPA (Time to Closest Point of Approach, the target reaches the CPA), which are adopted in the ARPA device, are used as the determination criteria. Time). DCPA and TCPA are
[0048]
[Expression 2]
DCPA = R · sinθ
TCPA = R · cosθ / V
Where θ = θ B −θ R + Π
θ B : Target direction
R: Target distance
V: Target relative speed
θ R : Target relative course
It is expressed. Here, the motion prediction data obtained by the automatic tracking / motion prediction means 11 can be used as the target relative speed and the target relative course. If the values of DCPA and TCPA are smaller than the reference value, the target can be determined as a dangerous target.
[0049]
Then, the target in the background process is automatically re-registered as the target of the foreground process, tracking and motion prediction are performed, and the predicted motion tendency is output to the display means 3 as motion prediction information. Thus, it is possible to appropriately display information for avoiding danger to the operator, and it is possible to avoid a dangerous state in advance.
[0050]
【The invention's effect】
As described above, it is possible to automatically track many targets that may be requested in the future by background processing and perform motion prediction. When specified as a specified target that needs to be known, the motion prediction of the specified target can be provided to the outside from the result of instantaneously predicting the motion by background processing, and displayed as necessary. It becomes like this.
[0051]
Therefore, even if it takes a long time for the motion prediction filter processing, since it is performed in the background processing in advance, it is possible to present an accurate target motion tendency to the operator at an early stage.
[0052]
In addition, the trend of the movement of the background target is not displayed, for example, since the data such as the symbol for the background target is not displayed on the display screen, a large amount of unnecessary symbols are displayed. Inconvenience that makes it difficult to see the target can be avoided.
[Brief description of the drawings]
FIG. 1 is a block configuration diagram showing an embodiment of a motion prediction apparatus of the present invention.
2 is a display example of a radar display screen in the embodiment of FIG.
FIG. 3 is an example of a detailed block diagram of an intrusion target detection unit in FIG. 1;
FIG. 4 is another example of a detailed block diagram of the intrusion target detection means of FIG. 1;
FIG. 5 is an example of a detailed block configuration diagram of a prediction unit in FIG. 1;
6 is another example of display of a radar display screen in the embodiment of FIG.
[Explanation of symbols]
1 Intrusion target detection means (background target detection means)
2 prediction means
21 Second intrusion target detection means

Claims (8)

  1. Background target detection means for outputting a target position signal of a background target to be subjected to background processing from a radar signal;
    Based on the target position signal from the background target detection means, continuously performing automatic tracking and motion prediction of the background target as background processing,
    Based on the target position signal of the specified target specified for the purpose of obtaining a movement trend, the automatic tracking and movement prediction of the specified target are continuously performed as foreground processing,
    A predicting means that can provide the movement tendency of the specified target obtained by the foreground processing to the outside,
    The prediction means performs foreground processing by inheriting the results of automatic tracking and motion prediction that have been continuously performed as background processing when the specified target is a background target that is already in background processing. An apparatus for predicting motion.
  2. The motion prediction apparatus according to claim 1, wherein the background target detection unit detects an intrusion target that has entered a predetermined first area as a background target and outputs a target position signal.
  3. The predicting means, when the newly designated target is a designated target that is already in the foreground process, inherits the results of automatic tracking and motion prediction that have been continuously performed as the foreground process as they are. The motion prediction apparatus according to claim 1 or 2.
  4. The predicting means is based on the target position signal of the newly designated target when the designated target newly designated is not either the designated target already in the foreground process or the background target being background processed. 4. The motion prediction apparatus according to claim 1, wherein automatic tracking and motion prediction of the designated target are started.
  5. 5. The prediction means according to claim 1, wherein the prediction means does not provide a movement tendency of the designated target to the outside until a predetermined time elapses from the start of automatic tracking and motion prediction for each designated target. The motion prediction apparatus according to claim 1.
  6. 2. A second intrusion target detection unit that detects a target that has entered a predetermined second area as a specified target and outputs a target position signal of the specified target detected to the prediction unit. 6. The motion prediction apparatus according to any one of items 5 to 5.
  7. The background target detection means detects an intrusion target that has entered a predetermined first area as a background target, and outputs a target position signal.
    A second intrusion target detecting means for detecting a target that has entered a predetermined second area as a designated target and outputting a target position signal of the designated target to the predicting means;
    The motion prediction apparatus according to claim 1, wherein the second region is a partial region of the first region.
  8. When the background target in the background process is determined to be a dangerous target, the prediction means inherits the results of automatic tracking and motion prediction that have been continuously performed as the background process, and changes to the foreground process. The motion prediction apparatus according to any one of claims 1 to 7.
JP23270699A 1999-08-19 1999-08-19 Motion prediction device Expired - Lifetime JP4153625B2 (en)

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