JP4777081B2 - Radar equipment - Google Patents

Description

  The present invention relates to a radar device that detects a given required coverage using a plurality of radars.

  Some conventional radar devices use the time and energy spent in the overlapping areas of multiple radars in the valleys of the coverage area to expand the overall coverage area (for example, patents). Reference 1).

JP-A-5-297132

  However, the conventional radar device is intended to expand the coverage, but there is a problem that it is unclear how each radar should share the coverage to be detected. It was.

  The present invention has been made in order to solve the above-described problems. The object of the present invention is to optimize the coverage to be detected by each radar with respect to a given required coverage, and at a short data update interval. A radar apparatus capable of detecting the required coverage is obtained.

A radar apparatus according to the present invention is a radar apparatus that detects a required coverage that is preset as a range to be detected using a plurality of radars, a required coverage holding means that holds the required coverage, and Represents the radar information holding means for holding the radar information, the Coverage boundary is a boundary of adjacent covering regions of said plurality of radar said request covering region including the installation position of the plurality of radar, assumed on the surface of the earth The position information of a finite number of boundary designation points to be configured, and the line segment with two boundary designation points as endpoints, or the information of coverage boundary elements that are half lines with one boundary designation point as endpoints, Coverage boundary holding means for holding the coverage boundary information and a Voronoi diagram with the installation positions of the plurality of radars as generating points are generated, and the Voronoi points correspond to the boundary designation points and the Voronoi sides correspond to the coverage boundary elements. Create covered boundary information If there are more limitations of the detection area of the radar is a Coverage border initialization means for recording said covering zone boundary holding means with modification to meet this constraint, the request covering region, the radar information, And a data update interval evaluation means for obtaining a coverage of each of the plurality of radars based on the coverage boundary information and evaluating a data update interval, which is a time required for detecting the coverage, and the data A coverage boundary that corrects the coverage boundary information and records it in the coverage boundary holding means so that a difference in data update intervals between radars adjacent to the coverage is reduced based on the output of the update interval evaluation means Correction means; radar specification calculation means for calculating radar specifications for each of the plurality of radars based on the required coverage, the radar information, and the corrected coverage boundary information; and the radar Based on the original, and a radar control means for controlling the plurality of radar provided, said covering zone boundary correcting means, on the basis of the data update interval for the data update interval evaluation means outputs, radar covering zone is adjacent A data update interval comparison unit that evaluates the magnitude relationship of the data update interval between the data update interval comparison unit, and the output of the data update interval comparison unit, so that the data update interval of the radar determined to be large is reduced, and The coverage boundary information is changed by moving the boundary designation point or changing the direction of the coverage boundary element in a half line so that the data update interval of the radar determined to be small is increased. And an area boundary deformation means .

  The radar apparatus according to the present invention has the effect of optimizing the coverage area to be detected by each radar for a given required coverage area and detecting the required coverage area at a short data update interval.

Embodiment 1 FIG.
A radar apparatus according to Embodiment 1 of the present invention will be described with reference to FIGS. 1 is a diagram showing a configuration of a radar apparatus according to Embodiment 1 of the present invention. In the following, in each figure, the same reference numerals indicate the same or corresponding parts.

1, the radar apparatus according to the first embodiment includes a radar 1 (1 ₁ , 1 ₂ ,..., 1 _n ), a required coverage holding means 2, a radar information holding means 3, and a coverage area. A boundary initialization unit 4, a coverage boundary holding unit 5, a data update interval evaluation unit 6, a coverage boundary correction unit 7, a radar specification calculation unit 8, and a radar control unit 9 are provided.

  Further, the coverage boundary correction means 7 includes a data update interval comparison means 71 and a coverage boundary deformation means 72.

  In FIG. 1, three radars 1 are explicitly displayed, but in the first embodiment, nine (n = 9) radars 1 are used. The required coverage area to be detected by these radars 1 is held in advance in the required coverage area holding means 2. Radar information unique to each radar 1 is held in the radar information holding means 3. Here, the “radar information” includes, for example, information such as the installation position of the radar 1 and the detectable range. However, in the first embodiment, it is assumed that there is no restriction on the detectable range of each radar 1.

  Next, the operation of the radar apparatus according to the first embodiment will be described with reference to the drawings.

  The radar 1 used in the first embodiment is a radar that detects an object by radiating electromagnetic waves in space and receiving a reflected wave from the target. In the first embodiment, a plurality of radars 1 installed at different positions are used. The radar 1 may be fixed or mobile, but when the radar 1 moves, it is necessary to recalculate the radar specifications of each radar 1 based on the first embodiment.

  The range to be detected by the radar 1 is set in advance by the user, and this region is referred to as “request coverage”. This required coverage area is actually a three-dimensional space area, but if the range in the altitude direction is smaller than the range in the horizontal direction, it may be considered to be approximately a two-dimensional plane area. Therefore, in the following description, it is assumed that the required coverage area is a two-dimensional plane area, and each radar 1 is installed in the plane.

  This required coverage is set in advance by the user according to the application. FIG. 2 is a diagram showing the positional relationship between the required coverage area and the radar 1 (9 units in total: ★) in the radar apparatus according to Embodiment 1 of the present invention. In FIG. 2, the required coverage area has a rectangular shape with rounded corners. Hereinafter, it is considered to search for the required coverage using all the given radars 1.

  If the time required to search through the required coverage is short, the target can be found and dealt with earlier. Therefore, it is desirable that this required coverage search time is as small as possible. In order to realize this, it is effective to appropriately share the required coverage area with each radar 1 and eliminate a portion where a plurality of radars 1 search redundantly. An example of such a situation is shown in FIG. FIG. 3 is a diagram showing boundaries of the coverage areas of nine radars (A to I: ★) in the radar apparatus according to Embodiment 1 of the present invention. In FIG. 3, a portion that becomes a boundary between adjacent radar coverage areas is referred to as a “coverage boundary”. In FIG. 3, for example, the area searched by the radar A is the hatched area in FIG. In this way, for each radar, an area searched by the radar is hereinafter referred to as “covered area”.

  As shown in FIG. 3, when the coverage boundary is determined, the coverage of each radar A to I is also determined. Further, for each radar A to I, the time required to detect the coverage completely Determined. This time is called “data update interval”. The maximum data update interval of all radars is referred to as “integrated data update interval”. An object of the present invention is to obtain a coverage boundary that reduces the integrated data update interval, and to control each of the radars A to I so as to detect each coverage determined in accordance with the obtained coverage boundary. It is.

  Here, it is assumed that data update intervals corresponding to the radars A, B,..., I shown in FIG. 3 are T (A), T (B),. Further, consider a case where the integrated data update interval is, for example, T (A) = max (T (A), T (B),..., T (I)). At this time, the value of T (A) (that is, the integrated data update interval) can be lowered by transferring a part of the coverage area of the radar A to one of the adjacent radars B, C,. it can. In this way, by repeating the operation of transferring a part of the radar coverage with a large data update interval to the adjacent radar, the data update interval is equalized and the integrated data update interval is also reduced.

Therefore, the following relationship is established for the coverage boundary where the integrated data update interval is minimized.
T (A) = T (B) = ... = T (I)
On the other hand, if a coverage boundary where the above relationship is established is obtained, the value of the integrated data update interval at that time is expected to be small if not minimized. The present invention reduces the integrated data update interval by obtaining a coverage boundary that equalizes the data update interval.

  The coverage boundary holding means 5 holds coverage boundary information. Coverage boundary information is information representing the coverage boundary. Specifically, the position information of a finite number of boundary designated points assumed on the ground surface, and a line segment with two boundary designated points as endpoints Alternatively, it is composed of information of a half line (called “cover boundary element”) having one boundary designation point as an end point. However, in the first embodiment, only a line segment having two boundary designation points as end points is considered as the coverage boundary element.

  FIG. 5 shows an example of the boundary designated point (● mark) and the coverage boundary element (line segment) in the first embodiment. As shown in FIG. 5, the required coverage area is divided into small areas corresponding to the number of radars by the coverage boundary element. Each divided small area represents a covered area of each of the radars A to I.

  The coverage boundary information held by the coverage boundary holding means 5 is initialized by the coverage boundary initialization means 4. The coverage boundary initialization means 4 first generates a Voronoi diagram with the installation positions of the radars A to I as the generating point. This Voronoi diagram is a diagram obtained by dividing a plane into small regions corresponding to the number of generating points according to “which generating point is closest”. For example, the book “Computational Geometry and Geographic Information Processing 2nd Edition” (supervised by Masao Iri, edited by Takeshi Koshizuka, publisher: Kyoritsu Publishing Co., Ltd., March 1993, 2nd edition) See pages 136-141 of 1st edition). Then, coverage boundary information is created in which Voronoi points correspond to boundary designation points and Voronoi sides correspond to coverage boundary elements. However, for a semi-linear Voronoi side that intersects the boundary of the required coverage, a new boundary designation point is generated at an appropriate position on the Voronoi side.

  When each radar A to I has a limit of a detectable region, it may be necessary to modify the created coverage boundary information to satisfy this. However, in the first embodiment, as described above, since there is no particular restriction on the detectable range, it is not necessary to perform the work of correcting the coverage boundary information.

  Now, the radar generally has a smaller data update interval when the detection distance with respect to the radar installation position is shorter. Therefore, it is expected that the data update interval of each of the radars A to I is a relatively small value at the coverage boundary obtained as described above according to the Voronoi diagram. Therefore, by using this as an initial state and optimizing the coverage boundary based on the procedure described later, there is a high possibility of obtaining a semi-optimal coverage boundary at high speed.

  The data update interval evaluation unit 6 is configured to detect each radar based on the requested coverage from the requested coverage holding unit 2, the radar information from the radar information holding unit 3, and the coverage boundary information from the coverage boundary holding unit 5. And the data update interval for the coverage is evaluated.

Here, an example of a method for evaluating the data update interval will be described. However, here, a rotary radar that performs pulse compression is targeted. First, the following equation is established from the radar equation for a beam directed in a certain direction.
R ⁴ = K ₁ · DH
However, R represents a detection distance, D represents a pulse compression rate, and H represents a coherent integration number (number of pulse hits). Here, the detection distance R differs depending on the beam direction. K _i (i = 1, 2, 3,...) Represents a constant.

Assuming that the duty ratio is constant, D = K ₂ · PRT (where PRT is a pulse repetition period and is an abbreviation for Pulse Repetition Time), and the data update interval is expressed by the following equation. However, the sum in the following equation is calculated corresponding to each beam.
(Data update interval) = Σ (PRT · H) = K ₃ · ΣR ⁴
In practice, there is a restriction such as “H is an integer”, so there is some error in the above formula, but it is ignored here.

Here, it is considered that the angle at which the coverage is estimated from the radar is divided by a certain angle Δθ. Now, assuming that the beam width is BW, the number of beams within the angle range of Δθ can be expressed as K ₄ · (Δθ / BW). Further, R is considered to be substantially constant within Δθ. Then, the data update interval can be expressed by the following equation by rearranging the data update interval as the sum for each direction θ taken at a constant angle increment Δθ.
(Data update interval) = K ₅ · Σ (R ⁴ · Δθ)
Here, it can be concluded that ignoring the constant, the data update interval can be evaluated by the sum ΣR ⁴ for θ. FIG. 6 shows the relationship between the constant angle increment Δθ and R when obtaining ΣR ⁴ as the sum total with respect to the azimuth θ.

  The coverage boundary correction means 7 includes a data update interval comparison means 71 and a coverage boundary deformation means 72, and based on the output of the data update interval evaluation means 6, the data update interval between radars adjacent to the coverage area. The coverage boundary information is corrected and recorded in the coverage boundary holding means 5 so as to reduce the difference.

  The data update interval comparison unit 71 evaluates the magnitude relationship of the data update intervals between the radars with which the coverage areas are adjacent based on the data update interval output from the data update interval evaluation unit 6. The coverage boundary deforming means 72 is configured to reduce the data update interval of the radar determined to have a large data update interval in the output of the data update interval comparison means 71, while the radar having the data update interval determined to be small. The boundary specification information is changed by moving the boundary designation point or changing the direction of the half-line coverage boundary element so that the data update interval increases. However, in the first embodiment, since there is no half-line covered boundary element, the change of the covered boundary information is realized only by moving the boundary designated point. Then, the changed coverage boundary information is recorded in the coverage boundary holding means 5.

In FIG. 5, when the data update intervals of radars A, B, and C are T (A), T (B), and T (C), respectively, and the data update interval evaluation unit 6 evaluates each as follows: think of.
T (A) = 6, T (B) = 7, T (C) = 5.

First, the movement of the boundary designated point a on FIG. In the above case, the data update interval comparison means 71 evaluates the magnitude relationship between the data update intervals of the radars A, B, and C corresponding to the boundary designated point a as follows.
T (C) <T (A) <T (B)

  Accordingly, the coverage boundary deforming means 72 moves the boundary designated point a so that the data update interval of the radar B decreases, while the data update interval of the radar C increases. A specific example of the movement of the boundary designated point a is shown in FIG. In FIG. 7, the boundary designated point before movement is represented by a white circle (◯ mark), and the coverage boundary element before movement is represented by a broken line. In the case of FIG. 7, the coverage area of radar B decreases and the coverage area of radar C increases, and accordingly, the data update interval of radar B decreases and the data update interval of radar C increases. Thereby, it is expected that the difference in the data update intervals of the radars A, B, and C is reduced.

Next, the movement of the boundary designated point b on FIG. 5 by the coverage boundary deformation means 72 will be described. In the above case, the data update interval comparison means 71 evaluates the magnitude relationship between the data update intervals of the radars B and C corresponding to the boundary designated point b as follows.
T (C) <T (B)

  Accordingly, the coverage boundary deforming means 72 moves the boundary designated point b so that the data update interval of the radar B is decreased while the data update interval of the radar C is increased. A specific example of the movement of the boundary designated point b is shown in FIG.

  In the covered boundary deformation means 72, the movement of the position as described above is applied to all the boundary designated points. By repeating this coverage boundary correction process, the data update intervals of the radars A to I can be equalized, and as a result, the integrated data update interval can be expected to be reduced.

  Based on the required coverage from the required coverage holding means 2, the radar information from the radar information holding means 3, and the coverage boundary information from the coverage boundary holding means 5, the radar specification calculation means 8 Radar specifications of each radar A to I are obtained so as to search the area.

In order to change the detection distance in each direction viewed from the radar installation position in accordance with the shape of the coverage area, it is conceivable to change the radar specifications such as the pulse width and the number of hits. Appropriate values of these radar specifications can be obtained by using radar equations. The radar control means 9 controls the radars 1 ₁ to 1 _n based on the radar specifications calculated by the radar specification calculation means 8.

  Next, the operation of the radar apparatus according to Embodiment 1 of the present invention will be described with reference to a flowchart.

  FIG. 9 is a flowchart showing radar specification optimization processing of the radar apparatus according to Embodiment 1 of the present invention. FIG. 10 is a flowchart showing details of the coverage boundary optimization process of FIG.

  First, in step 101, the required coverage is set in the required coverage holding means 2 and the radar information is set in the radar information holding means 3.

  Subsequently, in step 102, the coverage boundary initialization means 4, the coverage boundary holding means 5, the data update interval evaluation means 6, and the coverage boundary correction means 7 start the coverage boundary from an appropriate initial setting. By gradually making corrections, a coverage boundary that equalizes the data update interval is obtained, thereby optimizing the coverage boundary.

In steps 103 to 104, the radar specification calculation unit 8 derives the radar specification in accordance with the calculated coverage boundary, and the radar control unit 9 controls the radars 1 ₁ to 1 _n based on the radar specification. .

  Here, the details of the coverage boundary optimization process in step 102 of FIG. 9 will be described.

  First, in step 201, the coverage boundary initialization unit 4 holds the coverage boundary based on the requested coverage held by the requested coverage holding means 2 and the radar information held by the radar information holding means 3. The coverage boundary information held by the means 5 is initialized.

  Subsequently, in step 202, since the coverage of each radar A to I is determined based on the required coverage, radar information, and coverage boundary information, the data update interval evaluation means 6 makes the radars A to I based on the coverage. Evaluate the data update interval.

  In step 203, if a predetermined end condition is satisfied at this point, the coverage boundary optimization process ends. As the termination condition, for example, a condition such as “the number of coverage boundary optimization loops has reached a certain number of times” or “the difference between the maximum value and the minimum value of the data update interval is equal to or less than a predetermined threshold” Set.

  On the other hand, if the end condition is not satisfied in step 204, the data update interval comparison means 71 and the coverage boundary deformation means 72 move the positions of all the boundary designated points. The boundary designation point is moved in such a direction that the difference in data update intervals of the surrounding radars is reduced. When the movement process of the boundary designated point is completed, the process returns to step 202.

  According to the first embodiment, the coverage boundary correction process is repeated in a direction in which the difference between the data update intervals of the radars adjacent to the coverage is reduced, thereby equalizing the data update intervals of the radars. Thus, it is possible to obtain a coverage boundary where the integrated data update interval is small. By operating the radar based on the finally obtained coverage boundary, it is possible to realize a radar apparatus that detects the requested coverage at a short data update interval.

  Furthermore, the coverage boundary is limited to those that can be expressed by a finite number of boundary designation points on the ground surface and a line segment or a half-line coverage boundary element with the boundary designation point as an end point. The number of certain variables is reduced, so that the data update interval can be equalized at high speed.

  Furthermore, since the coverage boundary is initialized by the Voronoi diagram with the installation position of each radar as a generating point, the data update interval of each radar has already become a relatively small value at the initial point of coverage boundary optimization. Therefore, the data update interval can be equalized at high speed.

  In the first embodiment, in order to simplify the description, the required coverage is described as a two-dimensional plane, but the present invention is not limited to this. Even when the required coverage is considered as a region in the three-dimensional space, a coverage boundary that reduces the integrated data update interval can be obtained based on the same idea as in the two-dimensional space. When considering the required coverage of a three-dimensional space, for example, evaluation of data update intervals, radar specifications, etc., using the passing plane when the coverage boundary element on the ground surface is moved in the vertical direction as the coverage boundary. What is necessary is just to calculate.

Embodiment 2. FIG.
A radar apparatus according to Embodiment 2 of the present invention will be described with reference to FIGS. FIG. 11 is a diagram showing a configuration of a radar apparatus according to Embodiment 2 of the present invention.

  In the second embodiment, as shown in FIG. 11, the configuration of the coverage boundary correcting means 7 is different from that of the first embodiment. The coverage boundary correction means 7 in the second embodiment includes a correction target coverage boundary selection means 73, a data update interval comparison means 71, and a coverage boundary deformation means 72. Other configurations are basically the same as those in the first embodiment.

  The correction target coverage boundary selection unit 73 extracts the radar corresponding to the maximum data update interval among the data update intervals calculated by the data update interval evaluation unit 6, and provides coverage boundary information corresponding to the radar coverage. The data is selected as a correction target and output to the data update interval comparison unit 71.

For example, in FIG. 5, the data update intervals of radars A, B, C, D, E, F, G, H, and I are T (A), T (B), T (C), T (D), Consider T (E), T (F), T (G), T (H), and T (I), which are evaluated by the data update interval evaluation unit 6 as follows.
T (A) = 9, T (B) = 7, T (C) = 5, T (D) = 6.5, T (E) = 8, T (F) = 3, T (G) = 6 , T (H) = 4, T (I) = 5.5.

  In this case, the correction target coverage boundary selecting unit 73 extracts the radar A as the radar corresponding to the maximum data update interval. Then, the coverage boundary information corresponding to the coverage area of the radar A is selected as a correction target. In FIG. 12, the boundary designated points to be corrected are indicated by white circles (◯ marks), and the coverage boundary elements to be corrected are indicated by broken lines.

  The data update interval comparison means 71 and the coverage boundary deformation means 72 perform the process only on the correction target coverage boundary information output from the correction target coverage boundary selection means 73. Since the contents of the processing are the same as those described in the first embodiment, they are omitted here.

  Next, the operation of the radar apparatus according to Embodiment 2 of the present invention will be described with reference to a flowchart. The operation of the entire radar apparatus is the same as that of the flowchart of FIG. 9 in the first embodiment, and a description thereof is omitted here. Here, the details of the coverage boundary optimization process (step 102) in FIG. 9 will be described.

  FIG. 13 is a flowchart showing coverage boundary optimization processing of the radar apparatus according to Embodiment 2 of the present invention. The processing in steps 301 to 303 is the same as the corresponding processing in steps 201 to 203 in FIG. 10 in the first embodiment.

  In step 304, after the end condition determination (step 303), if the end condition is not satisfied, the correction target coverage boundary selecting unit 73 selects the coverage boundary information to be corrected.

  Subsequently, at step 305, the data update interval comparison means 71 and the coverage boundary deformation means 72 move the position of the boundary designated point belonging to the selected coverage boundary. The boundary designation point is moved in such a direction that the difference in data update intervals of the surrounding radars is reduced. When the movement process of the boundary designated point is completed, the process returns to step 302.

  According to the second embodiment, the coverage boundary to be corrected is narrowed down to that corresponding to the radar coverage having the maximum data update interval, so that the integrated data update interval can be reduced at high speed.

Embodiment 3 FIG.
A radar apparatus according to Embodiment 3 of the present invention will be described with reference to FIGS. As shown in FIG. 14, the third embodiment is different from the first embodiment described above in that an unauthorized coverage boundary detection means 10 and an unauthorized coverage boundary designated point correction means 11 are further provided.

  FIG. 14 is a diagram showing a configuration of a radar apparatus according to Embodiment 3 of the present invention. The radar apparatus according to the third embodiment includes an illegal coverage boundary detection means 10 and an illegal coverage boundary designated point correction means 11 in addition to the configuration of the first embodiment.

  The unauthorized coverage boundary detection means 10 extracts unauthorized coverage boundary elements based on the coverage boundary information held in the coverage boundary holding means 5. This illegal coverage boundary element extraction process is performed for each radar. Unauthorized coverage boundary element extraction for a radar indicates the direction of the boundary designation point with reference to the radar installation position when a series of boundary designation points connected by the coverage boundary elements that make up the coverage area are visited. When the increase / decrease of the angle is reversed, the coverage boundary element is regarded as illegal and is extracted as an unauthorized coverage boundary element.

  If an illegal coverage boundary element exists for a certain radar, a phenomenon occurs in which a line segment connecting a radar installation position and a point located in a specific range within the coverage passes through the coverage of a radar other than the radar. (The radar A in FIGS. 15 and 18 is a specific example thereof). On the other hand, in the case of a normal radar, when searching for a point p where the radar is located, a point on a line segment connecting the radar installation position and the point p is also searched. Therefore, when there is an illegal coverage boundary element, a redundant situation occurs in which the same area is searched by a plurality of radars. Therefore, the presence of an illegal coverage boundary element is not preferable.

  Hereinafter, a case where an illegal coverage boundary element is extracted from the radar A of FIG. 15 will be described as an example. The coverage area of the radar A is configured by connecting boundary designation points a, b, c, d, e, f, and a in this order by coverage boundary elements. At this time, for each boundary designation point, an angle based on the installation position of the radar A is obtained. In FIG. 15, the angle θa of the boundary designated point a and the angle θb of the boundary designated point b are illustrated. Then, a graph in which the order of connection of the boundary designation points is taken on the horizontal axis and the angle on the vertical axis is as shown in FIG. From this, it can be seen that the increase / decrease of the angle is reversed at the covered boundary element part connecting the boundary specified point e and the boundary specified point f. Such a coverage boundary element is regarded as illegal and is extracted as an unauthorized coverage boundary element.

  Subsequent to the detection of the illegal coverage boundary element, the unauthorized coverage boundary designated point correcting means 11 eliminates the illegality by moving the position of the boundary designated point that is the end point of the unauthorized coverage boundary element. Specifically, for example, the boundary designated points that are the end points of the illegal coverage boundary element may be moved so as to overlap each other. However, in this case, the connection relationship between the boundary designated points (by the coverage boundary element) is not changed. And based on the result, the content of the coverage boundary holding means 5 is corrected.

  In the case of the radar A in FIG. 15, as described above, the line segment connecting the boundary designated points e and f is detected as the fraudulent coverage boundary element by the unauthorized coverage boundary detection means 10. FIG. 17 shows an example of the result obtained by eliminating the illegality by overlapping the boundary designation points (that is, e and f) that are the end points of the illegal coverage boundary element by the illegal coverage boundary designated point correcting means 11.

  Another example of the illegal coverage boundary element is shown in FIG. In FIG. 18, for the radar A, a line segment connecting the boundary designated points e and f is detected as an illegal coverage boundary element. On the other hand, FIG. 19 shows an example of a result obtained by eliminating the fraud by overlapping the boundary designation points (that is, e and f) that are the end points of the fraudulent coverage boundary element.

  Next, the operation of the radar apparatus according to Embodiment 3 of the present invention will be described with reference to a flowchart. The operation of the entire radar apparatus is the same as that of the flowchart of FIG. 9 in the first embodiment, and a description thereof is omitted here. Here, the details of the coverage boundary optimization process (step 102) in FIG. 9 will be described.

  FIG. 20 is a flowchart showing coverage boundary optimization processing of the radar apparatus according to Embodiment 3 of the present invention. The processing in steps 401 to 404 is the same as the corresponding processing in steps 201 to 204 in FIG. 10 of the first embodiment.

  After the processing of step 404, in step 405, the unauthorized coverage boundary detection means 10 and the unauthorized coverage boundary designated point correction means 11 detect the unauthorized coverage boundary element in the coverage and detect illegality for each radar. If there is, the fraud is resolved. The fraud is resolved by moving the boundary designation points at both ends.

  According to the third embodiment, it is not necessary to process the situation where the coverage areas of a plurality of radars overlap and become redundant, so that the data update intervals can be equalized at high speed.

Embodiment 4 FIG.
A radar apparatus according to Embodiment 4 of the present invention will be described with reference to FIGS. As shown in FIG. 21, the fourth embodiment of the present invention is different from the third embodiment described above in that it includes an illegal coverage boundary connection relation correcting means 12.

  FIG. 21 is a diagram showing a configuration of a radar apparatus according to Embodiment 4 of the present invention. The radar apparatus according to the fourth embodiment includes unauthorized coverage boundary connection relation correcting means 12 in addition to the configuration of the third embodiment.

  The unauthorized coverage boundary detection means 10 extracts unauthorized coverage boundary elements based on the coverage boundary information held in the coverage boundary holding means 5. The processing contents are the same as those described in the third embodiment.

  Subsequent to detection of the illegal coverage area boundary element, the unauthorized coverage area boundary connection correction means 12 changes the connection relation with other boundary designation points at the end points of the unauthorized coverage area boundary element, and changes the coverage area after the change. Outputs boundary element information.

Hereinafter, a method for changing the connection relationship will be described. First, the boundary designation points at both ends of the illegal coverage boundary element relating to the radar A are set as a point p and a point q, respectively. Generally, two coverage boundary elements other than the illegal coverage boundary element are connected to each of the points p and q (other unauthorized coverage boundary elements are not considered here). Covering boundary elements other than the illegal covering boundary element connected to the point p are set as α1 and α2. On the other hand, coverage boundary elements other than the illegal coverage boundary element connected to the point q are set as β1 and β2. At this time, either α1 or α2 belongs to the coverage area of the radar A. Therefore, it is assumed that α1 belongs to the coverage area of the radar A. Similarly, either β1 or β2 belongs to the radar A coverage area. Therefore, it is assumed that β1 belongs to the coverage area of the radar A. At this time, the unauthorized coverage area boundary connection relationship correcting means 12 changes the connection relationship by any of the following methods.
The end point of α1 is changed from point p to point q, and the end point of β2 is changed from point q to point p.
The end point of α2 is changed from point p to point q, and the end point of β1 is changed from point q to point p.

  FIGS. 22 and 23 show examples in which the connection relation of the illegal coverage boundary elements connecting the points e and f with respect to the radar A in FIG. 15 is changed.

  The significance of the illegal coverage boundary connection correction is described below. For example, in the case of FIG. 15, the boundary designated point f is pushed out from the radar G to the radar A side. This means that the boundary designated point is moved in a direction in which the coverage area of the radar G is larger and the coverage area of the radar A is smaller. On the other hand, for a certain radar, in general, the larger the number of boundary designation points constituting the coverage area, the wider the coverage area can be expanded. Therefore, in order to make it easier to correct “the radar G coverage is larger”, it is desirable to increase the number of boundary designation points constituting the radar G coverage. In order to realize this, the connection relation of the illegal coverage boundary elements is corrected. Actually, in FIG. 15, the boundary designation points constituting the coverage area of the radar G are four, but in FIG. 22 or FIG. 23, the number is increased to five (instead, the boundary constituting the coverage area of the radar A). The number of designated points has been reduced from 6 to 5.

  Subsequent to the correction of the illegal coverage boundary connection relation, the illegal coverage boundary designated point correcting means 11 moves the position of the boundary designated point that is the end point of the illegal coverage boundary element. Even if the fraud has not been resolved after the illegal coverage boundary connection relation correction, this operation ensures that the fraud is finally resolved. A specific method for moving the position of the boundary designated point is the same as that in the third embodiment.

  FIG. 24 shows an example of the result of moving the boundary designated point by the illegal coverage boundary designated point correcting means 11 in the situation of FIG. 22 or FIG.

  Further, an example of a situation after the unauthorized coverage boundary connection relation correcting unit 12 corrects the illegal coverage boundary connection relation for the unauthorized coverage area boundary element connecting the points e and f related to the radar A shown in FIG. As shown in FIG.

  In the case of FIG. 18, the boundary designation point e is pushed out from the radar C to the radar G side, and the boundary designation point f is pushed out from the radar G to the radar C side. This means that the boundary designated point is moved in the direction of increasing the coverage area of the radar G and the radar C. On the other hand, in order to make correction of “the coverage area of radar G and radar C larger” easier, the number of boundary designation points constituting the coverage area of radar G and radar C can be increased. desirable. Referring to FIG. 25, it can be confirmed that the number of boundary designation points that actually constitute the coverage areas of the radar G and the radar C is increased by correcting the connection relation of the illegal coverage area boundary elements.

  Further, FIG. 26 shows an example of the situation after the boundary designated point is moved by the unauthorized coverage boundary designated point correcting means 11 with respect to the situation of FIG.

  Next, the operation of the radar apparatus according to Embodiment 4 of the present invention will be described with reference to a flowchart. The operation of the entire radar apparatus is the same as that of the flowchart of FIG. 9 in the first embodiment, and a description thereof is omitted here. Here, the details of the coverage boundary optimization process (step 102) in FIG. 9 will be described.

  FIG. 27 is a flowchart showing coverage boundary optimization processing of the radar apparatus according to Embodiment 4 of the present invention. The processing in steps 501 to 504 is the same as the corresponding processing in steps 201 to 204 in FIG. 10 of the first embodiment.

  After the processing of step 504, in step 505, the illegal coverage boundary detection means 10, the illegal coverage boundary connection relation correction means 12, and the illegal coverage boundary designated point correction means 11 If the coverage boundary element is detected and there is a fraud, the fraud elimination process is performed. The fraud is resolved by changing the connection relationship between the boundary designation points at both ends and moving the boundary designation points.

  According to the fourth embodiment, since the connection relation of the coverage boundary is dynamically changed in accordance with the trend of increase / decrease of the coverage of each radar in the coverage boundary optimization, it is possible to optimize the coverage boundary with high accuracy. Can be implemented.

Embodiment 5 FIG.
A radar apparatus according to Embodiment 5 of the present invention will be described with reference to FIGS. As shown in FIG. 28, the fifth embodiment is different from the first embodiment in that a sufficient data update interval holding unit 13 and a data update interval changing unit 14 are included.

  FIG. 28 is a diagram showing a configuration of a radar apparatus according to Embodiment 5 of the present invention. The radar apparatus according to the fifth embodiment sufficiently includes a data update interval holding unit 13 and a data update interval changing unit 14 in addition to the configuration of the first embodiment.

  The sufficient data update interval holding means 13 holds a sufficient data update interval for each radar. Here, the sufficient data update interval is a real value greater than or equal to 0, and “sufficient data update interval is X” means that “if the radar data update interval is less than or equal to X, the performance regarding the radar data update interval is Is sufficient, ”the user sets in advance.

  The data update interval changing unit 14 compares the data update interval output by the data update interval evaluating unit 6 with the data update interval for each radar. If the data update interval is sufficiently shorter than the data update interval, a numerical value obtained by reducing the data update interval from the original value is output. Specifically, for example, a predetermined sufficiently small numerical value, for example, 0 may be output. On the other hand, if the data update interval is sufficiently larger than the data update interval, the data update interval output by the data update interval evaluation means 6 is output as it is.

  Based on the output of the data update interval changing unit 14, the coverage boundary correcting unit 7 corrects the cover boundary information so that the difference in the data update interval between the radars adjacent to the covered region (after the change) is reduced. And recorded in the coverage boundary holding means 5. The specific operation is the same as that described in the first embodiment.

As an example, in FIG. 5, the data update intervals of the radars A, B, and C are T (A), T (B), and T (C), respectively, and the data update interval evaluation unit 6 evaluates each as follows. Is considered (same as the example in the first embodiment).
T (A) = 6, T (B) = 7, T (C) = 5.

  Furthermore, it is assumed that sufficient data update intervals of radars A, B, and C are recorded as 8, 4, and 4 in the sufficient data update interval holding means 13, respectively. This is because “targets flying from outside the coverage boundary are likely to be detected by radar installed near the coverage boundary, so data updated for the radar installed at the center of the coverage boundary. This is a setting based on the idea that the interval may be slightly larger.

  In this case, for radar A, the data update interval is sufficiently shorter than the data update interval. On the other hand, for radars B and C, the data update interval is sufficiently larger than the data update interval. Therefore, the data update interval changing unit 14 changes the data update interval of the radar A to a value smaller than the original data update interval, for example, 0, and outputs the changed value. On the other hand, for radars B and C, the original data update interval is output as it is. Eventually, the data update interval changing means 14 outputs 0, 7, and 5 as the data update intervals after changing the radars A, B, and C, respectively.

  In response to this result, the coverage boundary correcting means 7 corrects the coverage boundary so that the data update interval of the radar B is decreased while the data update interval of the radar A is increased. Accordingly, the boundary designated point a on FIG. 5 is moved by the coverage boundary correcting means 7 as shown in FIG. 29, for example. As described above, the example shown in the first embodiment (see FIG. 7 for an example of the movement of the boundary designated point a) is different from the result even though the output of the data update interval evaluation unit 6 is the same. I understand that

  Next, the operation of the radar apparatus according to Embodiment 5 of the present invention will be described with reference to a flowchart. The operation of the entire radar apparatus is the same as that of the flowchart of FIG. 9 in the first embodiment, and a description thereof is omitted here. Here, the details of the coverage boundary optimization process (step 102) in FIG. 9 will be described.

  FIG. 30 is a flowchart showing coverage boundary optimization processing of the radar apparatus according to Embodiment 5 of the present invention. The processing in steps 601 and 602 is the same as the processing in corresponding steps 201 and 202 in FIG. 10 of the first embodiment.

  After the processing of step 602, in step 603, the data update interval changing unit 14 compares the data update interval output by the data update interval evaluating unit 6 with the data update interval for each radar, and the data update interval is If the data update interval is sufficiently shorter, a numerical value obtained by reducing the data update interval from the original value is output.

  In step 604, if the predetermined termination condition is satisfied at this point, the coverage boundary optimization process is terminated.

  On the other hand, if the end condition is not satisfied in step 605, the coverage boundary correcting means 7 moves the positions of all the boundary designated points. The boundary designated point is moved in such a direction that the difference in the data update interval (after the change by the data update interval changing means 14) of the surrounding radar is reduced. When the movement process of the boundary designated point is completed, the process returns to step 602.

  According to the fifth embodiment, even when the performance regarding the data update interval required for each radar is different, coverage boundary optimization corresponding to the performance can be performed.

Embodiment 6 FIG.
A radar apparatus according to Embodiment 6 of the present invention will be described with reference to FIGS. 31 and 32. FIG. As shown in FIG. 31, the sixth embodiment is different from the first embodiment in that the data update interval weight holding means 15 and the data update interval weight means 16 are included.

  FIG. 31 is a diagram showing a configuration of a radar apparatus according to Embodiment 6 of the present invention. The radar apparatus according to the sixth embodiment includes a data update interval weight holding unit 15 and a data update interval weighting unit 16 in addition to the configuration of the first embodiment.

  The data update interval weight holding means 15 holds a data update interval weight coefficient for each radar. Here, the data update interval weight coefficient is a real value of 0 or more, which means “importance regarding the data update interval of each radar”, and is set in advance by the user.

  The data update interval weighting means 16 weights the data update intervals output by the data update interval evaluation means 6 for each radar using a data update interval weight coefficient. Specifically, for example, a result obtained by multiplying the data update interval by the data update interval weight coefficient may be output.

  Based on the output of the data update interval weighting means 16, the coverage boundary correction means 7 corrects the coverage boundary information so that the difference in data update intervals (after weighting) between radars adjacent to the coverage area decreases. And recorded in the coverage boundary holding means 5. The specific operation is the same as that described in the first embodiment.

As an example, in FIG. 5, the data update intervals of the radars A, B, and C are T (A), T (B), and T (C), respectively, and the data update interval evaluation unit 6 evaluates each as follows. Is considered (same as the example in the first embodiment).
T (A) = 6, T (B) = 7, T (C) = 5.

  Further, assume that the data update interval weight holding means 15 records the data update interval weight coefficients of radars A, B, and C as 0.5, 1, and 1, respectively. This is because “targets flying from outside the coverage boundary are likely to be detected by radar installed near the coverage boundary, so data updated for the radar installed at the center of the coverage boundary. This setting is based on the idea that “the importance of the interval is low”.

  In this case, the data update interval weighting means 16 outputs 3, 7, and 5 as the data update intervals after the weighting of the radars A, B, and C, respectively.

  In response to this result, the coverage boundary correcting means 7 corrects the coverage boundary so that the data update interval of the radar B is decreased while the data update interval of the radar A is increased. Accordingly, the boundary designated point a on FIG. 5 is moved by the coverage boundary correcting means 7 as shown in FIG. 29, for example. As described above, the example shown in the first embodiment (see FIG. 7 for an example of the movement of the boundary designated point a) is different from the result even though the output of the data update interval evaluation unit 6 is the same. I understand that

  Next, the operation of the radar apparatus according to Embodiment 6 of the present invention will be described with reference to a flowchart. The operation of the entire radar apparatus is the same as that of the flowchart of FIG. 9 in the first embodiment, and a description thereof is omitted here. Here, the details of the coverage boundary optimization process (step 102) in FIG. 9 will be described.

  FIG. 32 is a flowchart showing coverage boundary optimization processing of the radar apparatus according to Embodiment 6 of the present invention. The processing in steps 701 and 702 is the same as the processing in corresponding steps 201 and 202 in FIG. 10 in the first embodiment.

  After the processing of step 702, in step 703, the data update interval weighting means 16 weights the data update interval output from the data update interval evaluation means 6 for each radar by the data update interval weight coefficient.

  In step 704, if a predetermined termination condition is satisfied at this point, the coverage boundary optimization process ends.

  On the other hand, if the end condition is not satisfied in step 705, the coverage boundary correcting means 7 moves the positions of all the boundary designated points. The boundary designated point is moved in a direction in which the difference in data update intervals (after weighting by the data update interval weighting means 16) of the surrounding radar is reduced. When the movement process of the boundary designated point is completed, the process returns to step 702.

  According to the sixth embodiment, even when the importance regarding the data update interval of each radar is different, coverage boundary optimization corresponding to the importance can be performed.

Embodiment 7 FIG.
A radar apparatus according to Embodiment 7 of the present invention will be described with reference to FIGS. The configuration of the radar apparatus according to the seventh embodiment is as shown in FIG. 1 and is the same as that of the first embodiment.

  However, the content of the coverage boundary information held by the coverage boundary holding means 5 is slightly different. In the first embodiment, only the line segment having two boundary designation points as end points is considered as the coverage boundary element. In the seventh embodiment, in addition to a line segment having two boundary designated points as end points, a half line having one boundary designated point as an end point is also considered as a coverage boundary element. Only the parts different from the first embodiment will be described below.

  An example of the boundary designation point and the coverage boundary element in the seventh embodiment is shown in FIG. FIG. 33 is almost the same as FIG. 5 based on the example shown in the first embodiment, but in FIG. 33, the coverage boundary element that intersects the boundary of the required coverage is not a line segment but a half line. (In other words, there is a boundary designation point only on one side of the coverage boundary element).

  The initialization by the coverage boundary initialization means 4 in the seventh embodiment will be described. The coverage boundary initialization means 4 first generates a Voronoi diagram with the installation position of each radar as a generating point, as in the first embodiment. Then, coverage boundary information is created in which Voronoi points correspond to boundary designation points and Voronoi sides correspond to coverage boundary elements. Unlike the first embodiment, a new boundary designation point is not generated at an appropriate position on the Voronoi side of the semi-linear Voronoi side that intersects the boundary of the required coverage.

  Next, a method of changing the half-line coverage boundary element by the coverage boundary deformation means 72 will be described. As described in the first embodiment, the coverage boundary changing unit 72 reduces the data update interval of the radar determined to have a large data update interval in the output of the data update interval comparison unit 71. The coverage boundary information is changed by moving the boundary designation point or changing the direction of the half-line coverage boundary element so that the data update interval of the radar determined to be small is increased. Then, the changed coverage boundary information is recorded in the coverage boundary holding means 5.

In FIG. 33, the data update intervals of the radars A, B, and C are T (A), T (B), and T (C), respectively, and the data update interval evaluation unit 6 evaluates them as follows. Consider the case (same as the example in the first embodiment).
T (A) = 6, T (B) = 7, T (C) = 5.

In this case, the data update interval comparison means 71 evaluates the magnitude relationship between the data update intervals of the radars A, B, and C corresponding to the boundary designated point a as follows.
T (C) <T (A) <T (B)

  Accordingly, the coverage boundary deforming means 72 moves the boundary designated point a so that the data update interval of the radar B decreases, while the data update interval of the radar C increases.

On the other hand, the data update interval comparison means 71 evaluates the magnitude relationship between the data update intervals of the radars B and C corresponding to the half-line covered boundary element α as follows.
T (C) <T (B)

  Therefore, the coverage boundary deformation means 72 changes the direction of the coverage boundary element α so that the data update interval of the radar B is decreased, while the data update interval of the radar C is increased.

  A specific example of the movement of the boundary designated point a and the direction change of the half-line covered boundary element α is shown in FIG.

  Next, the operation of the radar apparatus according to Embodiment 7 of the present invention will be described with reference to a flowchart. The operation of the entire radar apparatus is the same as that of the flowchart of FIG. 9 in the first embodiment, and a description thereof is omitted here. Here, the details of the coverage boundary optimization process (step 102) in FIG. 9 will be described.

  FIG. 35 is a flowchart showing the coverage boundary optimization processing of the radar apparatus according to Embodiment 7 of the present invention. The processing in steps 801 to 803 is the same as the corresponding processing in steps 201 to 203 in FIG. 10 in the first embodiment.

  After determining the end condition in step 803, if the end condition is not satisfied in step 804, the coverage boundary correcting means 7 corrects the positions of all boundary designated points and the directions of the half-line coverage boundary elements. The position of the boundary designation point and the direction of the half-line coverage boundary element are corrected in a direction in which the difference in the data update interval of the surrounding radar is reduced. When the movement process of the boundary designated point is completed, the process returns to step 802.

  As described above, even when the coverage boundary element that intersects the boundary of the required coverage is not a line segment but a half straight line, the coverage boundary optimization can be appropriately performed.

Embodiment 8 FIG.
A radar apparatus according to Embodiment 8 of the present invention will be described with reference to FIGS. The configuration of the radar apparatus according to the eighth embodiment is as shown in FIG. 1 and is the same as that of the first embodiment. However, the required coverage area and radar arrangement are different from those of the first embodiment.

  FIG. 36 is a diagram showing the positional relationship between the required coverage area and radars (6 units in total) in the radar apparatus according to Embodiment 8 of the present invention. In FIG. 36, each radar has a circular detectable area. It is assumed that the union of detectable areas of all radars is a required coverage area.

  In this case, due to restrictions on the detectable area of each radar, it is necessary to place a boundary designation point on the intersection of the circles indicating the detectable area on the boundary of the required coverage area.

  An example of the boundary designation point and the coverage boundary element in the eighth embodiment is shown in FIG. In FIG. 37, fixed coverage boundary points are represented by double circles.

  In the initialization by the coverage boundary initialization means 4, it is necessary to set a fixed boundary designation point on the boundary of the required coverage in consideration of the above situation. Therefore, after creating the coverage boundary information based on the Voronoi diagram with each radar installation position as the base point, if the coverage boundary information and the fixed boundary designation point are inconsistent, the coverage boundary information Needs to be modified. However, in the case of the eighth embodiment, the coverage boundary information created based on the Voronoi diagram and the fixed boundary designation point do not contradict each other, and there is no need for correction.

  Also, fixed boundary designation points must be fixed even during coverage boundary optimization. That is, the boundary designation points that can be moved by the coverage boundary deformation means 72 are limited to the boundary designation points indicated by black circles in FIG.

  As described above, even when the required coverage area is determined based on the detectable area of each radar, if the boundary designated points are arranged and moved according to the restrictions of the detectable area, Coverage boundary optimization can be performed.

It is a figure which shows the structure of the radar apparatus which concerns on Embodiment 1 of this invention. It is the figure which showed the required coverage of the radar apparatus which concerns on Embodiment 1 of this invention, and the positional relationship of a radar. It is a figure which shows the boundary of the coverage area of nine radars in the radar apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the area | region which the radar A of FIG. 3 searches. In the radar apparatus according to Embodiment 1 of the present invention, it is a diagram illustrating an example of boundary designation points (● marks) and coverage boundary elements (line segments). In the radar apparatus according to Embodiment 1 of the present invention, it is a diagram showing a relationship between a constant angle step Δθ and R when obtaining ΣR ⁴ as a total sum related to an azimuth θ. FIG. 7 is a diagram showing a specific example of the movement of the boundary designated point a in the radar apparatus according to Embodiment 1 of the present invention. FIG. 8 is a diagram showing a specific example of the movement of the boundary designated point b in the radar apparatus according to Embodiment 1 of the present invention. It is a flowchart which shows the radar item optimization process of the radar apparatus which concerns on Embodiment 1 of this invention. 10 is a flowchart showing details of coverage boundary optimization processing in FIG. 9. It is a figure which shows the structure of the radar apparatus which concerns on Embodiment 2 of this invention. In the radar apparatus according to Embodiment 2 of the present invention, a boundary designation point to be corrected is indicated by a white circle (◯ mark), and a coverage boundary element to be corrected is indicated by a broken line. It is a flowchart which shows the coverage boundary optimization process of the radar apparatus which concerns on Embodiment 2 of this invention. It is a figure which shows the structure of the radar apparatus based on Embodiment 3 of this invention. In the radar apparatus according to Embodiment 3 of the present invention, it is a diagram showing an angle θa of a boundary designated point a and an angle θb of a boundary designated point b. In the radar apparatus which concerns on Embodiment 3 of this invention, it is a figure which shows the graph which took the order of the connection of the boundary designation | designated point on the horizontal axis, and took the angle on the vertical axis | shaft. In the radar apparatus which concerns on Embodiment 3 of this invention, it is a figure which shows the example of the result of having canceled fraud by making the boundary designation | designated point (e and f) used as the end point of an unauthorized coverage boundary element overlap. In the radar apparatus which concerns on Embodiment 3 of this invention, it is a figure which shows another example of an unauthorized covering area boundary element. In the radar apparatus which concerns on Embodiment 3 of this invention, it is a figure which shows the example of the result of having canceled fraud by making the boundary designation | designated point (e and f) used as the end point of an unauthorized coverage boundary element overlap. It is a flowchart which shows the coverage boundary optimization process of the radar apparatus which concerns on Embodiment 3 of this invention. It is a figure which shows the structure of the radar apparatus based on Embodiment 4 of this invention. In the radar apparatus which concerns on Embodiment 4 of this invention, it is a figure which shows the example which changed the connection relation of the unauthorized coverage area boundary element. In the radar apparatus which concerns on Embodiment 4 of this invention, it is a figure which shows the example which changed the connection relation of the unauthorized coverage area boundary element. It is a figure which shows the example of the result of having moved the boundary designation | designated point in the radar apparatus which concerns on Embodiment 4 of this invention. In the radar apparatus which concerns on Embodiment 4 of this invention, it is a figure which shows the example of the condition after performing unauthorized covering area boundary connection relation correction. It is a figure which shows the example of the condition after moving the boundary designation | designated point in the radar apparatus which concerns on Embodiment 4 of this invention. It is a flowchart which shows the coverage boundary optimization process of the radar apparatus which concerns on Embodiment 4 of this invention. It is a figure which shows the structure of the radar apparatus based on Embodiment 5 of this invention. In the radar apparatus which concerns on Embodiment 5 of this invention, it is a figure which shows the example of a movement of the boundary designation | designated point a. It is a flowchart which shows the coverage boundary optimization process of the radar apparatus which concerns on Embodiment 5 of this invention. It is a figure which shows the structure of the radar apparatus based on Embodiment 6 of this invention. It is a flowchart which shows the coverage boundary optimization process of the radar apparatus which concerns on Embodiment 6 of this invention. It is a figure which shows the example of the boundary designation | designated point and coverage boundary element of the radar apparatus concerning Embodiment 7 of this invention. In the radar apparatus which concerns on Embodiment 7 of this invention, it is a figure which shows the specific example of the movement of the boundary designation | designated point a, and the direction change of the half-line covered area | region boundary element (alpha). It is a flowchart which shows the coverage boundary optimization process of the radar apparatus which concerns on Embodiment 7 of this invention. It is a figure which shows the request | requirement coverage area of the radar apparatus based on Embodiment 8 of this invention, and the positional relationship of a radar. It is a figure which shows the example of the boundary designation | designated point and coverage boundary element of the radar apparatus which concerns on Embodiment 8 of this invention.

Explanation of symbols

  1 radar, 2 required coverage holding means, 3 radar information holding means, 4 coverage boundary initialization means, 5 coverage boundary holding means, 6 data update interval evaluation means, 7 coverage boundary correction means, 8 radar specification calculation Means 9 radar control means 10 unauthorized coverage boundary detection means 11 unauthorized coverage boundary designated point correction means 12 unauthorized coverage boundary connection relation correction means 13 sufficient data update interval holding means 14 data update interval changing means, 15 data update interval weight holding means, 16 data update interval weight means, 71 data update interval comparison means, 72 coverage boundary deformation means, 73 correction target coverage boundary selection means.

Claims (6)

A radar device that detects a required coverage area preset as a range to be detected using a plurality of radars,
Request coverage holding means for holding the request coverage;
Radar information holding means for holding radar information including installation positions of the plurality of radars;
Represents the plurality of Coverage boundary is a boundary of adjacent covering area of radar of the request covering region, the position information of a finite number of boundary designation point assumed on the surface of the earth, and the two boundary designated points endpoint Coverage boundary holding means for holding the coverage boundary information, comprising the information of the coverage boundary element that is a line segment or a half straight line having one boundary designation point as an end point ;
A Voronoi diagram with the installation positions of the plurality of radars as generating points is generated, coverage boundary information in which Voronoi points correspond to the boundary designating points and Voronoi sides correspond to the coverage boundary elements is created, and each radar If there is a restriction on the detectable area, the coverage boundary initialization means for performing correction so as to satisfy this restriction and recording it in the coverage boundary holding means,
Based on the requested coverage, the radar information, and the coverage boundary information, the coverage of each of the plurality of radars is obtained, and a data update interval that is a time required for detecting the coverage is evaluated. A data update interval evaluation means;
Based on the output of the data update interval evaluation means, the coverage boundary information is corrected and recorded in the coverage boundary holding means so that the difference in data update intervals between radars adjacent to the coverage area is reduced. Area boundary correction means;
Radar specification calculation means for calculating a radar specification for each of the plurality of radars based on the required coverage, the radar information, and the corrected coverage boundary information;
Radar control means for controlling the plurality of radars based on the radar specifications ;
The coverage boundary correcting means is
Based on the data update interval output by the data update interval evaluation means, a data update interval comparison means that evaluates the magnitude relationship of the data update intervals between the radars that are adjacent to each other,
In the output of the data update interval comparing means, the data update interval of the radar determined to be large is decreased, and the data update interval of the radar determined to be small is increased. And a coverage boundary deformation means for changing the coverage boundary information by moving the boundary designation point or changing the direction of the coverage boundary element in a half line . The coverage boundary correcting means is
The radar corresponding to the maximum data update interval among the data update intervals calculated by the data update interval evaluation means is extracted, and the coverage boundary information corresponding to the extracted radar coverage is selected as the correction target, and the data The radar apparatus according to claim 1 , further comprising a correction target coverage boundary selecting unit that outputs to the update interval comparing unit . Based on the corrected coverage boundary information held in the coverage boundary holding means, a series of boundary designation points connected by coverage boundary elements constituting the radar coverage for each of the plurality of radars. An illegal coverage area that is regarded as illegal and extracted as an illegal coverage boundary element when the increase / decrease in the angle indicating the direction of the boundary designated point with respect to the radar installation position is reversed when traveling around Boundary detection means;
Unauthorized coverage boundary designated point correcting means for resolving the irregularity by moving the position of the boundary designated point serving as the end point of the unauthorized coverage area boundary element, and correcting the contents of the coverage boundary holding means based on the elimination of the illegality the radar apparatus according to claim 1, further comprising a. Based on the corrected coverage boundary information held in the coverage boundary holding means, a series of boundary designation points connected by coverage boundary elements constituting the radar coverage for each of the plurality of radars. An illegal coverage area that is regarded as illegal and extracted as an illegal coverage boundary element when the increase / decrease in the angle indicating the direction of the boundary designated point with respect to the radar installation position is reversed when traveling around Boundary detection means;
One of the coverage boundary elements other than the unauthorized coverage boundary element starting from the first boundary designated point that is the end point of the unauthorized coverage boundary element is the first coverage boundary element, and the unauthorized coverage boundary The first coverage boundary element when one of the coverage boundary elements other than the illegal coverage boundary element starting from the second boundary designation point serving as the end point of the element is the second coverage boundary element The end point of the first boundary designation point is changed from the first boundary designation point to the second boundary designation point, and the end point of the second coverage boundary element is changed from the second boundary designation point to the first boundary designation point. Illegal coverage boundary connection relation correcting means for outputting area boundary element information;
An illegal coverage boundary that reliably resolves fraud by moving the position of the first boundary designation point and the second boundary designation point, and corrects the content of the coverage boundary holding means based on the resolution of the fraud the radar apparatus according to claim 1, further comprising a designated point correcting means. A sufficient data update interval holding means for holding a sufficient data update interval for each of the plurality of radars;
For each radar, the data update interval output by the data update interval evaluation means is compared with the sufficient data update interval. If the data update interval is less than or equal to the sufficient data update interval, the data update interval is When the data update interval is larger than the sufficient data update interval, the data update interval is not changed, and the data update interval in each case is output to the coverage boundary correcting means. the radar apparatus according to claim 1, further comprising an update interval changing means. Data update interval weight holding means for holding a data update interval weight coefficient for each of the plurality of radars;
For each radar, the data update interval output by the data update interval evaluation means is weighted by the data update interval weight coefficient held by the data update interval weight holding means and output to the coverage boundary correcting means. the radar apparatus according to claim 1, further comprising a data update interval weighting means.

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