Target tracking device, target tracking method, and target tracking program

Abstract

To provide a target tracking device with which false target tracking can be suppressed.SOLUTION: Provided is a target tracking device for tracking a target in a detection object area. The target tracking device comprises: an acquisition unit for acquiring echo data that indicates a correspondence relationship between a position in the detection object area and the level of a reflected wave at which an electromagnetic wave transmitted via an antenna is reflected at the position; a tracking unit for performing tracking processing to track the target on the basis of the echo data; and a setting unit for setting a tracking prohibited region that includes a region of interest where the level of the reflected wave is greater than or equal to a prescribed threshold and the magnitude of which is greater than or equal to a prescribed threshold, on the basis of the echo data. The tracking unit performs the tracking processing on the basis of the echo data in which data on the position in the tracking prohibited region is excluded.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a target tracking device, a target tracking method, and a target tracking program. [Background technology]

[0002] Conventionally, in a radar device having a function of tracking a target based on echo data, a technique for preventing capture of an unnecessary tracking target has been developed. For example, Patent Document 1 (JP Patent Publication 2009-47550A) describes the following unnecessary tracking target removal device. That is, the unnecessary tracking target removal device is an unnecessary tracking target removal device that performs control processing for removing unnecessary tracking targets from control targets for a tracking control means that automatically tracks a tracking target based on a radar function, and includes a tracking target position information calculation means that calculates position information regarding the latitude and longitude of the tracking target based on tracking target distance information and tracking target orientation information of the tracking target notified by the tracking control means and latitude and longitude information of a radar installation position, a tracking target peripheral area generation means that generates a tracking target peripheral area that indicates a peripheral area with the tracking target position calculated by the tracking target position information calculation means as a base point, and an inclusion relationship determination control means that determines whether the tracking target is an unnecessary target or not based on the inclusion relationship between the graphic component and the tracking target peripheral area based on features of the graphic component of electronic drawing data corresponding to the position of the tracking target, and performs control processing to output a tracking stop command to the tracking control means when the tracking target is determined to be an unnecessary target. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-47550 A Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need for a technology that goes beyond the technology described in Patent Document 1 and that is capable of suppressing erroneous tracking of a target in a radar device.

[0005] The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a target tracking device, a target tracking method, and a target tracking program capable of suppressing erroneous tracking of a target. [Means for solving the problem]

[0006] (1) In order to solve the above problem, a target tracking device according to one aspect of the present invention is a target tracking device that tracks a target in a detection target area, and includes an acquisition unit that acquires echo data indicating a correspondence between a position in the detection target area and a level of a reflected wave of an electromagnetic wave transmitted via an antenna that is reflected at the position, a tracking unit that performs a tracking process to track the target based on the echo data, and a setting unit that sets a tracking prohibited area based on the echo data, the tracking prohibited area including a target area in which the level of the reflected wave is equal to or greater than a predetermined value and the size is equal to or greater than a predetermined value, and the tracking unit performs the tracking process based on the echo data from which data of the position in the tracking prohibited area has been excluded.

[0007] A target area where the level of the reflected wave is equal to or greater than a predetermined value and the size is equal to or greater than a predetermined value may be an area such as land where no target object to be detected exists, and by setting a tracking prohibition area including such a target area and performing tracking processing based on echo data from which data on the position in the tracking prohibition area is excluded, it is possible to exclude candidates for the coordinates of targets in the tracking prohibition area from being tracked. Therefore, it is possible to suppress erroneous detection of targets based on reflected waves reflected in the tracking prohibition area. Therefore, it is possible to suppress erroneous tracking of targets in the radar device.

[0008] (2) In the above (1), the setting unit may approximate the target region with a polygonal reference region, and if the reference region satisfies a predetermined condition, set the reference region as the tracking prohibition region.

[0009] With this configuration, the tracking prohibition area can be set by simple processing.

[0010] (3) In the above (2), the setting unit may approximate the target area with a plurality of divided reference areas connected along an azimuth direction centered on the antenna, and if the reference area consisting of the plurality of divided reference areas satisfies a predetermined condition, set the reference area as the tracking prohibition area.

[0011] With this configuration, it is possible to set a tracking prohibition area that more accurately approximates the target area, so that targets in the vicinity of the target area can be tracked more accurately.

[0012] (4) In the above (1), the setting unit may approximate the target area with a reference area surrounded by two straight lines extending in a distance direction from the antenna and two arcs extending in an azimuth direction with the antenna as a center, and if the reference area satisfies a predetermined condition, set the reference area as the tracking prohibition area.

[0013] With this configuration, the tracking prohibition area can be set by simple processing.

[0014] (5) In the above (4), the setting unit may approximate the target area with a divided reference area surrounded by two straight lines extending in the distance direction from the antenna and two circular arcs extending in the azimuth direction centered on the antenna, and if the reference area consisting of a plurality of divided reference areas in which the straight lines overlap each other satisfies a predetermined condition, set the reference area as the tracking prohibition area.

[0015] With this configuration, it is possible to set a tracking prohibition area that more accurately approximates the target area, so that targets in the vicinity of the target area can be tracked more accurately.

[0016] (6) In any of (2) to (5) above, the setting unit may set the reference area as the tracking prohibition area when the width of the reference area in the azimuth direction centered on the antenna is equal to or greater than a predetermined value.

[0017] With this configuration, an appropriate target area having a large width in the azimuth angle direction can be set as the tracking prohibition area.

[0018] (7) In any one of (2) to (6) above, the setting unit may set the reference region as the tracking prohibition region when an area of ​​the reference region is equal to or larger than a predetermined value.

[0019] With this configuration, it is possible to set an appropriate target area having a large area as the tracking prohibition area.

[0020] (8) In any of (2) to (7) above, the setting unit may set the reference area as the tracking prohibition area when a depth length of the reference area based on the antenna is equal to or greater than a predetermined value.

[0021] With this configuration, an appropriate target area having a long depth can be set as the tracking prohibition area.

[0022] (9) In any of (1) to (8) above, the tracking unit may perform the tracking process based on the echo data from which data on the position in an area far from the antenna-side boundary line of the tracking prohibited area has been excluded.

[0023] With this configuration, it is possible to remove target coordinate candidates in the tracking prohibited area from the tracking target by simple processing.

[0024] (10) In any of (1) to (9) above, the acquisition unit may repeatedly acquire the echo data, and if the tracking unit is unable to detect the target based on the first echo data, the tracking unit may skip the tracking process based on the first echo data and perform the tracking process based on the second echo data acquired after the first echo data.

[0025] With this configuration, for example, in a case where the coordinates of the target to be detected cannot be detected based on the first echo data because the coordinates of the target are not included in the tracking target based on the tracking prohibited area, the coordinates of the target can be detected and tracked based on the second echo data.

[0026] (11) In any of (1) to (10) above, the tracking unit may detect a candidate for the target based on the echo data, and if the candidate is present in the tracking prohibited area, exclude the candidate from being a tracking target in the tracking process.

[0027] With this configuration, the number of tracking targets can be reduced and only the targets that should be tracked can be tracked, thereby preventing erroneous tracking of targets and reducing the processing load in the tracking process.

[0028] (12) In the above (11), the tracking unit may further perform a background tracking process to track the candidate that has been excluded from the tracking targets in the tracking process, and the tracking unit may perform a process to display a tracking result of the target tracked in the tracking process, but may not perform a process to display the tracking result of the candidate tracked in the background tracking process.

[0029] With this configuration, it is possible to display only the tracking results of the target object that should be displayed, while continuing to track the target object candidates that exist in the tracking prohibited area.

[0030] (13) In the above (11), the tracking unit may further perform a background tracking process to track the candidate that has been excluded from the tracking targets in the tracking process, and the tracking unit may perform a process to display the tracking result of the target tracked in the tracking process and the tracking result of the candidate tracked in the background tracking process in different manners.

[0031] With this configuration, it is possible to distinguish and display the tracking results of targets that are highly required to be displayed from the tracking results of target candidates that exist in the tracking prohibited area.

[0032] (14) In any of (11) to (13) above, the acquisition unit may repeatedly acquire the echo data, and when the candidate detected based on the first echo data is present in the tracking prohibited area, the tracking unit may exclude the candidate from being a tracking target in the tracking process based on the first echo data and the echo data acquired after the first echo data.

[0033] With this configuration, it is not necessary to determine whether a detected target candidate is present within a tracking-prohibited area each time echo data is acquired, thereby reducing the processing load in the tracking process.

[0034] (15) In order to solve the above problem, a target tracking method according to a certain aspect of the present invention is a target tracking method in a target tracking device that tracks a target in a detection target area, which acquires echo data indicating a correspondence between a position in the detection target area and a level of a reflected wave of an electromagnetic wave transmitted via an antenna and reflected at the position, performs a tracking process to track the target based on the echo data, sets a tracking prohibited area based on the echo data, the tracking prohibited area including a target area where the level of the reflected wave is equal to or greater than a predetermined value and where the size is equal to or greater than a predetermined value, and performs the tracking process based on the echo data from which data in the tracking prohibited area has been excluded.

[0035] A target area where the level of the reflected wave is equal to or greater than a predetermined value and the size is equal to or greater than a predetermined value may be an area such as land where no target to be detected exists, and by setting a tracking-prohibited area including such a target area and performing tracking processing based on echo data from which data on the position in the tracking-prohibited area is excluded, it is possible to exclude candidates for the coordinates of targets in the tracking-prohibited area from tracking targets. Therefore, it is possible to suppress erroneous detection of targets based on reflected waves reflected in the tracking-prohibited area. Therefore, it is possible to suppress erroneous tracking of targets in the radar device.

[0036] (16) In order to solve the above-mentioned problems, a target tracking program according to an aspect of the present invention is a target tracking program used in a target tracking device that tracks a target in a detection target area, the program causing a computer to execute a process of acquiring echo data indicating a correspondence between a position in the detection target area and a level of a reflected wave of an electromagnetic wave transmitted via an antenna that is reflected at the position, a tracking process of tracking the target based on the echo data, and a process of setting a tracking prohibited area including a target area in which the level of the reflected wave is equal to or greater than a predetermined value and the size is equal to or greater than a predetermined value based on the echo data, and the program causing a computer to execute a process of performing the tracking process based on the echo data from which data in the tracking prohibited area has been excluded.

[0037] A target area where the level of the reflected wave is equal to or greater than a predetermined value and the size is equal to or greater than a predetermined value may be an area such as land where no target object to be detected exists, and by setting a tracking prohibition area including such a target area and performing tracking processing based on echo data from which data on the position in the tracking prohibition area is excluded, it is possible to exclude candidates for the coordinates of targets in the tracking prohibition area from being tracked. Therefore, it is possible to suppress erroneous detection of targets based on reflected waves reflected in the tracking prohibition area. Therefore, it is possible to suppress erroneous tracking of targets in the radar device. Effect of the Invention

[0038] According to the present invention, it is possible to suppress erroneous tracking of a target in a radar device. [Brief description of the drawings]

[0039] [Figure 1] FIG. 1 is a diagram showing a configuration of a radar device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing an example of an echo image displayed by a display processing unit in the radar device according to the embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing an example of a tracking prohibition area set by a setting unit in the radar device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing another example of a tracking prohibition area set by the setting unit in the radar device according to the embodiment of the present invention. [Diagram 5] FIG. 5 is a flowchart showing an example of an operation performed by the target tracking unit in the radar device according to the embodiment of the present invention when performing tracking processing. [Figure 6] FIG. 6 is a flowchart showing another example of the operation when the target tracking unit in the radar device according to the embodiment of the present invention performs tracking processing. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0040] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference characters and their description will not be repeated. In addition, at least some of the embodiments described below may be arbitrarily combined.

[0041] [Configuration and basic operation] FIG. 1 is a diagram showing a configuration of a radar device according to an embodiment of the present invention. Referring to FIG. 1, the radar device 201 includes a radar unit 20 and a target tracking unit 101. The target tracking unit 101 is an example of a target tracking device. The radar unit 20 includes an antenna 21, a transmission / reception unit 22, and a signal processing unit 23. The target tracking unit 101 includes an acquisition unit 11, a display processing unit 12, a setting unit 13, and a storage unit 14. The display processing unit 12 is an example of a tracking unit. A part or all of the transmission / reception unit 22, the signal processing unit 23, the acquisition unit 11, the display processing unit 12, and the setting unit 13 are realized, for example, by a processing circuit including one or more processors. The storage unit 14 is, for example, a non-volatile memory included in the processing circuit.

[0042] The radar device 201 is mounted on the ship 1. The target tracking unit 101 tracks a target S, such as another ship, in a detection target area Ta, and performs processing to display an echo image indicating the position of the target S on a display device (not shown). For example, the detection target area Ta is an area inside a circle of a predetermined size centered on the ship 1.

[0043] (Radar section) The radar unit 20 generates divided echo data EdD, which is echo data Ed indicating the correspondence between positions in a divided target area Da and echo levels at those positions, based on the reflected waves of the electromagnetic waves transmitted via the antenna 21. The divided target area Da is a sector-shaped region obtained by dividing the detection target area Ta into N portions along the azimuth angle direction. N is an integer equal to or greater than 2. The echo level at each position of the divided echo data EdD indicates the level of the reflected wave reflected at that position.

[0044] For example, the radar unit 20 generates the divided echo data EdD at a generation timing according to a predetermined generation cycle.

[0045] More specifically, the transmitting / receiving unit 22 transmits electromagnetic waves via the antenna 21 during a sweep period T of a predetermined length, and receives reflected waves of the transmitted electromagnetic waves via the antenna 21. The transmitting / receiving unit 22 generates digital data Dd by digitally converting an echo signal indicating the received reflected wave. The transmitting / receiving unit 22 repeats the transmission of the electromagnetic waves and the generation of the digital data Dd while rotating the antenna 21 so that the azimuth angle of the transmission direction of the electromagnetic waves changes by a predetermined angle for each sweep period T. The transmitting / receiving unit 22 outputs the generated digital data Dd to the signal processing unit 23 every time it generates digital data Dd.

[0046] The signal processing unit 23 generates divided echo data EdD based on the multiple digital data Dd received from the transmitting / receiving unit 22. For example, the signal processing unit 23 generates divided echo data EdD in which echo levels at multiple positions in the division target area Da are binarized. More specifically, the signal processing unit 23 generates divided echo data EdD by converting the echo level values ​​at positions in the division target area Da where the echo level is equal to or greater than a predetermined threshold Th1 to "1" and converting the echo level values ​​at positions where the echo level is less than the threshold Th1 to "zero." The signal processing unit 23 transmits the generated divided echo data EdD to the target tracking unit 101 every time it generates divided echo data EdD.

[0047] (Target tracking unit) The acquisition unit 11 in the target tracking unit 101 repeatedly acquires linked echo data EdC, which is echo data Ed indicating the correspondence between a position in a detection area and an echo level at that position.

[0048] More specifically, the acquisition unit 11 receives the divided echo data EdD from the signal processing unit 23 and stores the received divided echo data EdD in the storage unit 14. Each time the number of divided echo data EdD stored in the storage unit 14 reaches N, the acquisition unit 11 acquires the N pieces of divided echo data EdD from the storage unit 14 and concatenates them to generate concatenated echo data EdC. The acquisition unit 11 stores the generated concatenated echo data EdC in the storage unit 14.

[0049] The display processing unit 12 performs a tracking process to track the target S based on the echo data Ed. More specifically, when the acquisition unit 11 stores the linked echo data EdC in the storage unit 14, the display processing unit 12 specifies coordinates indicating the current position of the target S based on the linked echo data EdC. Then, the display processing unit 12 calculates a predicted velocity vector Vc of the target S based on the specified coordinates indicating the current position of the target S and a velocity vector estimated from the coordinates of the target S in a past sweep period T.

[0050] For example, when the display processing unit 12 cannot detect the target S based on the echo data Ed, it skips the tracking process based on the echo data Ed and performs the tracking process based on other echo data Ed generated after the echo data Ed. More specifically, when the display processing unit 12 cannot identify coordinates indicating the current position of the target S based on the linked echo data EdC, it waits for the acquisition unit 11 to store new linked echo data EdC in the storage unit 14. Then, the display processing unit 12 identifies coordinates indicating the current position of the target S and calculates a predicted velocity vector Vc based on the other newly stored linked echo data EdC.

[0051] Fig. 2 is a diagram showing an example of an echo image displayed by a display processing unit in a radar device according to an embodiment of the present invention. Referring to Fig. 2, the display processing unit 12 performs processing to display a tracking result of a target S. More specifically, the display processing unit 12 generates an echo image showing the coordinates of the target S in a detection target area Ta and a predicted speed vector Vc of the target S, and performs processing to display the generated echo image on a display device (not shown).

[0052] The setting unit 13 sets a tracking-prohibited area Fa including an echo area Ea whose echo level is equal to or greater than a threshold Th1 and whose size is equal to or greater than a predetermined value, based on the echo data Ed. The echo area Ea is an example of a target area. More specifically, the setting unit 13 detects the echo area Ea based on the echo levels indicated by the multiple divided echo data EdD in the storage unit 14. The setting unit 13 sets a tracking-prohibited area Fa including the detected echo area Ea. For example, the echo area Ea is a land area. The setting unit 13 stores setting information indicating the coordinates of the set tracking-prohibited area Fa in the storage unit 14. Details of the procedure for setting the tracking-prohibited area Fa by the setting unit 13 will be described later.

[0053] The display processing unit 12 performs tracking processing based on the echo data Ed from which data on the position in the tracking prohibited area Fa is excluded. More specifically, when a candidate Cs of the coordinates of the target S detected based on the connected echo data EdC exists outside the tracking prohibited area Fa, the display processing unit 12 determines that the candidate Cs is a coordinate indicating the current position of the target S, and performs tracking processing. Specifically, the display processing unit 12 calculates a predicted velocity vector Vc of the target S based on the determined coordinate indicating the current position of the target S and a velocity vector estimated from the coordinates of the target S in the past sweep period T.

[0054] On the other hand, when a candidate Cs for the coordinates of the target S detected based on the concatenated echo data EdC is present in the tracking-prohibited area Fa, the display processing unit 12 determines that the candidate Cs is not a coordinate indicating the current position of the target S, and excludes the candidate Cs from the tracking target in the tracking process.

[0055] For example, when a candidate Cs detected based on the linked echo data EdC is in the tracking prohibited area Fa, the display processing unit 12 excludes the candidate Cs from a tracking target in a tracking process based on the linked echo data EdC and other linked echo data EdC generated after the linked echo data EdC. More specifically, when a candidate Cs is in the tracking prohibited area Fa in the linked echo data EdC generated first after the target tracking unit 101 is started, the display processing unit 12 maintains the state in which the candidate Cs is excluded from the tracking target even if the candidate Cs is located outside the tracking prohibited area Fa in the other linked echo data EdC generated after the linked echo data EdC.

[0056] For example, the display processing unit 12 further performs a background tracking process to track a candidate Cs that was excluded from the tracking target in the tracking process. While the display processing unit 12 performs the process to display the tracking result of the target S as described above, it does not perform the process to display the tracking result of the candidate Cs that was tracked in the background tracking process.

[0057] The display processing unit 12 may be configured to perform a process of displaying the tracking result of the candidate Cs tracked in the background tracking process in addition to the tracking result of the target S. In this case, for example, the display processing unit 12 performs a process of displaying the tracking result of the target S tracked in the tracking process and the tracking result of the candidate Cs tracked in the background tracking process in different modes. Specifically, the display processing unit 12 performs a process of displaying an icon indicating the target S and an icon indicating the candidate Cs in different colors.

[0058] For example, the display processing unit 12 performs the tracking process based on the echo data Ed from which position data in an area far from the boundary line of the tracking-prohibited area Fa on the antenna 21 side has been excluded. More specifically, the display processing unit 12 detects the boundary line of the tracking-prohibited area Fa on the antenna 21 side based on the latest setting information in the storage unit 14. The display processing unit 12 performs the tracking process based on the echo levels in an area closer to the antenna than the boundary line, among the echo levels indicated by the linked echo data EdC.

[0059] (Example 1 of setting the tracking prohibition area) FIG. 3 is a diagram showing an example of a tracking prohibition area set by a setting unit in the radar device according to the embodiment of the present invention.

[0060] Referring to FIG. 3, the setting unit 13 approximates the echo area Ea with a polygonal reference area Ra1 based on the echo data Ed. For example, the reference area Ra1 is a Baumkuchen-shaped area. More specifically, the reference area Ra1 is an area surrounded by two straight lines extending in the distance direction from the antenna 21 and two arcs ar1 and ar2 extending in the azimuth direction with the antenna 21 as the center. That is, the reference area Ra1 is an area surrounded by the arcs ar1 and ar2 of two circles centered on the antenna 21 and two line segments connecting the two ends of the arc ar1 and the two ends of the arc ar2, respectively. The setting unit 13 approximates the echo area Ea with the reference area Ra1 inscribed in the echo area Ea. The reference area Ra1 may be, for example, a sector-shaped area.

[0061] If the approximate reference area Ra1 satisfies a predetermined condition, the setting unit 13 sets the reference area Ra1 as a tracking prohibition area Fa.

[0062] More specifically, the setting unit 13 determines whether or not a condition A is satisfied that the width W1 of the reference region Ra1 in the azimuth direction centered on the antenna 21 is equal to or greater than a predetermined value. The setting unit 13 also determines whether or not a condition B is satisfied that the area S1 of the reference region Ra1 is equal to or greater than a predetermined value. The setting unit 13 also determines whether or not a condition C is satisfied that the depth length L1 of the reference region Ra1 based on the antenna 21 is equal to or greater than a predetermined value.

[0063] The setting unit 13 sets the reference area Ra1 as a tracking prohibition area Fa when the reference area Ra1 satisfies all of the conditions A, B, and C. Note that the setting unit 13 may be configured to set the reference area Ra1 as a tracking prohibition area Fa when the reference area Ra1 satisfies at least one of the conditions A, B, and C.

[0064] For example, every time the acquisition unit 11 stores the divided echo data EdD in the storage unit 14, the setting unit 13 updates the echo area Ea in the detection target area Ta and approximates the updated echo area Ea with the reference area Ra1. If the approximated reference area Ra1 does not satisfy some or all of the conditions A, B, and C, the setting unit 13 waits for new divided echo data EdD to be stored in the storage unit 14 by the acquisition unit 11 without setting the tracking prohibition area Fa.

[0065] On the other hand, if the approximate reference area Ra1 satisfies all of the conditions A, B, and C, the setting unit 13 sets the reference area Ra1 as the tracking prohibition area Fa. Then, the setting unit 13 updates the setting information in the storage unit 14 to setting information indicating the coordinates of the newly set tracking prohibition area Fa.

[0066] (Example 2 of setting the tracking prohibition area) 4 is a diagram showing another example of a tracking prohibition area set by a setting unit in a radar device according to an embodiment of the present invention, in which a dashed dotted line indicates a reference area Ra1.

[0067] 4, the setting unit 13 approximates the echo area Ea with a plurality of divided reference areas DRa connected along the azimuth direction centered on the antenna 21 based on the echo data Ed. For example, the divided reference area DRa is an area surrounded by two straight lines extending in the distance direction from the antenna 21 and two arcs ar3 and ar4 extending in the azimuth direction centered on the antenna 21, and is an area smaller than the reference area Ra1. That is, the divided reference area DRa is an area surrounded by the arcs ar3 and ar4 of two circles centered on the antenna 21 and two line segments connecting the two ends of the arc ar3 and the two ends of the arc ar4, respectively, and is an area smaller than the reference area Ra1. The reference area Ra2 is an area consisting of a plurality of divided reference areas DRa in the divided reference area DRa where the straight lines extending in the distance direction from the antenna 21 overlap each other. The divided reference area DRa may be, for example, a sector-shaped area. The setting unit 13 approximates the echo area Ea with a plurality of divided reference areas DRa each having the same width in the azimuth angle direction.

[0068] When a polygonal reference area Ra2 made up of a plurality of divided reference areas DRa satisfies a predetermined condition, the setting unit 13 sets the reference area Ra2 as a tracking prohibition area Fa.

[0069] More specifically, the setting unit 13 determines whether or not a condition A is satisfied that the width W2 of the reference area Ra2 in the azimuth direction centered on the antenna 21 is equal to or greater than a predetermined value. The setting unit 13 also determines whether or not a condition B is satisfied that the area S2 of the reference area Ra2 is equal to or greater than a predetermined value. The setting unit 13 also determines whether or not a condition C is satisfied that the depth length L2 of the reference area Ra2 based on the antenna 21 is equal to or greater than a predetermined value.

[0070] The setting unit 13 sets the reference area Ra2 as a tracking prohibition area Fa when the reference area Ra2 satisfies all of the conditions A, B, and C. Note that the setting unit 13 may be configured to set the reference area Ra2 as a tracking prohibition area Fa when the reference area Ra2 satisfies at least one of the conditions A, B, and C.

[0071] For example, the setting unit 13 updates the echo area Ea in the detection target area Ta every time the acquisition unit 11 stores the divided echo data EdD in the storage unit 14, and approximates the updated echo area Ea with a plurality of divided reference areas DRa. If the reference area Ra2 consisting of the approximated divided reference areas DRa does not satisfy some or all of the conditions A, B, and C, the setting unit 13 waits for the acquisition unit 11 to store new divided echo data EdD in the storage unit 14 without setting the tracking prohibition area Fa.

[0072] On the other hand, when a reference area Ra2 consisting of a plurality of similar divided reference areas DRa satisfies all of conditions A, B, and C, the setting unit 13 sets the reference area Ra2 as a tracking prohibition area Fa. Then, the setting unit 13 updates the setting information in the storage unit 14 to setting information indicating the coordinates of the newly set tracking prohibition area Fa.

[0073] In this way, by setting a reference area Ra2 consisting of multiple divided reference areas DRa as the tracking-prohibited area Fa, it is possible to more accurately track a target S located just before the echo area Ea as seen from the ship 1, compared to a configuration in which the reference area Ra1 is set as the tracking-prohibited area Fa.

[0074] [Operation flow] The radar device according to the embodiment of the present invention includes a computer including a memory, and a processor such as a CPU in the computer reads out from the memory a program including some or all of the steps of the following flowcharts and executes it. The program of this device can be installed from the outside. The program of this device is distributed in a state stored on a recording medium or via a communication line.

[0075] Fig. 5 is a flowchart showing an example of an operation performed by a target tracking unit in a radar device according to an embodiment of the present invention when performing tracking processing. Fig. 5 shows a flowchart of setting example 1 of the above-mentioned tracking prohibition area.

[0076] Referring to FIG. 5, first, the target tracking unit 101 waits for the divided echo data EdD from the radar unit 20 (NO in step S11), and upon receiving the divided echo data EdD from the radar unit 20 (YES in step S11), stores the received divided echo data EdD in the memory unit 14 (step S12).

[0077] Next, the target tracking unit 101 updates the echo area Ea in the detection target area Ta based on the divided echo data EdD, and approximates the updated echo area Ea with the reference area Ra1 (step S13).

[0078] Next, for example, if the approximated reference area Ra1 satisfies all of the conditions A, B, and C, the target tracking unit 101 sets the reference area Ra1 as a tracking prohibition area Fa (step S14).

[0079] Next, the target tracking unit 101 updates the setting information in the storage unit 14 to setting information indicating the coordinates of the newly set tracking prohibition area Fa (step S15).

[0080] Next, the target tracking unit 101 detects a candidate Cs for the coordinates of the target S based on the combined echo data EdC (step S16).

[0081] Next, if the candidate Cs of the coordinates of the target S is outside the tracking prohibited area Fa (NO in step S17), the target tracking unit 101 determines that the candidate Cs is a coordinate indicating the current position of the target S, and performs tracking processing. More specifically, the target tracking unit 101 calculates a predicted velocity vector Vc of the target S based on the coordinate indicating the current position of the target S and a velocity vector estimated from the coordinates of the target S in the past sweep period T (step S18).

[0082] Next, the target tracking unit 101 waits for a new generation timing (NO in step S11).

[0083] On the other hand, if the candidate Cs of the coordinates of the target S is present in the tracking prohibited area Fa (YES in step S17), the target tracking unit 101 determines that the candidate Cs does not have coordinates indicating the current position of the target S, and excludes the candidate Cs from the tracking target (step S19).

[0084] Next, the target tracking unit 101 waits for a new generation timing (NO in step S11).

[0085] Fig. 6 is a flowchart showing another example of the operation of the target tracking unit in the radar device according to the embodiment of the present invention when performing tracking processing. Fig. 6 shows a flowchart of setting example 2 of the above-mentioned tracking prohibition area.

[0086] Referring to FIG. 6, first, the target tracking unit 101 waits for the divided echo data EdD from the radar unit 20 (NO in step S21), and upon receiving the divided echo data EdD from the radar unit 20 (YES in step S21), stores the received divided echo data EdD in the memory unit 14 (step S22).

[0087] Next, the target tracking unit 101 updates the echo area Ea in the detection target area Ta based on the divided echo data EdD, and approximates the updated echo area Ea with a plurality of divided reference areas DRa (step S23).

[0088] Next, for example, if a reference area Ra2 consisting of a plurality of similar divided reference areas DRa satisfies all of conditions A, B, and C, the target tracking unit 101 sets the reference area Ra2 as a tracking prohibition area Fa (step S24).

[0089] Next, the target tracking unit 101 updates the setting information in the storage unit 14 to setting information indicating the coordinates of the newly set tracking prohibition area Fa (step S25).

[0090] Next, the target tracking unit 101 detects a candidate Cs for the coordinates of the target S based on the combined echo data EdC (step S26).

[0091] Next, if the candidate Cs of the coordinates of the target S is outside the tracking prohibited area Fa (NO in step S27), the target tracking unit 101 determines that the candidate Cs is a coordinate indicating the current position of the target S, and performs tracking processing. More specifically, the target tracking unit 101 calculates a predicted velocity vector Vc of the target S based on the coordinate indicating the current position of the target S and a velocity vector estimated from the coordinates of the target S in the past sweep period T (step S28).

[0092] Next, the target tracking unit 101 waits for a new generation timing (NO in step S21).

[0093] On the other hand, if the candidate Cs of the coordinates of the target S is present in the tracking prohibited area Fa (YES in step S27), the target tracking unit 101 determines that the candidate Cs does not have coordinates indicating the current position of the target S, and excludes the candidate Cs from the tracking target (step S29).

[0094] Next, the target tracking unit 101 waits for a new generation timing (NO in step S21).

[0095] In the target tracking unit 101 according to the embodiment of the present invention, the setting unit 13 is configured to approximate the echo area Ea with the reference area Ra1 or a plurality of divided reference areas DRa, and set the reference area Ra2 consisting of the reference area Ra1 or a plurality of divided reference areas DRa as the tracking prohibition area Fa, but this is not limited thereto. The setting unit 13 may be configured to set the tracking prohibition area Fa without approximating the echo area Ea with the reference area Ra1 or a plurality of divided reference areas DRa. More specifically, for example, the setting unit 13 sets the tracking prohibition area Fa having a shape that follows the outer edge of the echo area Ea based on the digital data Dd generated by the transmitting / receiving unit 22 for each sweep period T.

[0096] The above-described embodiments should be considered as illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0097] 1 ship 11 Acquisition Department 12 Display processing section 13 Setting section 14 Storage section 20 Radar Section 21 Antenna 22 Transmitter / receiver 23 Signal Processing Section 101 Target tracking unit 201 Radar Equipment Ta Detection area S target Vc Predicted velocity vector Ea echo region Ra1,Ra2 reference area DRa Split Reference Region ar1,ar2,ar3,ar4 Arcs Fa tracking prohibited area

Claims

1. A target tracking device that tracks a target in a detection target area, an acquisition unit that acquires echo data indicating a correspondence relationship between a position in the detection target area and a level of a reflected wave of an electromagnetic wave transmitted via an antenna and reflected at the position; a tracking unit that performs a tracking process to track the target based on the echo data; a setting unit that sets a tracking prohibition area including a target area in which the level of the reflected wave is equal to or greater than a predetermined value and the size of the target area is equal to or greater than a predetermined value based on the echo data; The tracking unit performs the tracking process based on the echo data from which data on the position in the tracking prohibited area has been excluded.

2. The target tracking device according to claim 1 , wherein the setting unit approximates the target area with a polygonal reference area, and sets the reference area as the tracking prohibition area if the reference area satisfies a predetermined condition.

3. 3. The target tracking device according to claim 2, wherein the setting unit approximates the target area with a plurality of divided reference areas connected along an azimuth direction centered on the antenna, and when the reference area consisting of the plurality of divided reference areas satisfies a predetermined condition, sets the reference area as the tracking prohibition area.

4. 2. The target tracking device according to claim 1, wherein the setting unit approximates the target area with a reference area surrounded by two straight lines extending in a distance direction from the antenna and two arcs extending in an azimuth direction with the antenna as a center, and sets the reference area as the tracking prohibition area if the reference area satisfies a predetermined condition.

5. 5. The target tracking device according to claim 4, wherein the setting unit approximates the target area with a divided reference area surrounded by two straight lines extending in a distance direction from the antenna and two circular arcs extending in an azimuth direction centered on the antenna, and when the reference area consisting of a plurality of the divided reference areas in which the straight lines overlap each other satisfies a predetermined condition, sets the reference area as the tracking prohibition area.

6. 5. The target tracking device according to claim 2, wherein the setting unit sets the reference area as the tracking prohibition area when a width of the reference area in an azimuth direction centered on the antenna is equal to or greater than a predetermined value.

7. The target tracking device according to claim 2 , wherein the setting unit sets the reference area as the tracking prohibition area when an area of ​​the reference area is equal to or larger than a predetermined value.

8. 5. The target tracking device according to claim 2, wherein the setting unit sets the reference area as the tracking prohibition area when a depth length of the reference area based on the antenna is equal to or greater than a predetermined value.

9. The target tracking device according to claim 1 , wherein the tracking unit performs the tracking process based on the echo data from which data on the position in an area far from a boundary line on the antenna side of the tracking prohibited area has been excluded.

10. The acquisition unit repeatedly acquires the echo data, 2. The target tracking device according to claim 1, wherein, when the tracking unit is unable to detect the target based on the first echo data, the tracking unit skips the tracking process based on the first echo data, and performs the tracking process based on the second echo data acquired after the first echo data.

11. The target tracking device according to claim 1 , wherein the tracking unit detects a candidate for the target based on the echo data, and, if the candidate exists in the tracking prohibited area, excludes the candidate from being tracked in the tracking process.

12. The tracking unit further performs a background tracking process to track the candidate excluded from the tracking target in the tracking process; The target tracking device according to claim 11 , wherein the tracking unit performs a process of displaying a tracking result of the target tracked in the tracking process, and does not perform a process of displaying a tracking result of the candidate tracked in the background tracking process.

13. The tracking unit further performs a background tracking process to track the candidate excluded from the tracking target in the tracking process; The target tracking device according to claim 11 , wherein the tracking unit performs processing to display a tracking result of the target tracked in the tracking processing and a tracking result of the candidate tracked in the background tracking processing in different modes.

14. The acquisition unit repeatedly acquires the echo data, 12. The target tracking device according to claim 11, wherein, when the candidate detected based on the first echo data is present in the tracking prohibited area, the tracking unit excludes the candidate from a tracking target in the tracking process based on the first echo data and the echo data acquired after the first echo data.

15. A target tracking method for a target tracking device that tracks a target in a detection target area, comprising: acquiring echo data indicating a correspondence relationship between a position in the detection target area and a level of a reflected wave of an electromagnetic wave transmitted via an antenna and reflected at the position; performing a tracking process for tracking the target based on the echo data; Based on the echo data, a tracking prohibition area is set, the tracking prohibition area including a target area in which the level of the reflected wave is equal to or greater than a predetermined value and the size of the target area is equal to or greater than a predetermined value; The tracking process is performed based on the echo data from which data in the tracking prohibited area has been excluded.

16. A target tracking program used in a target tracking device that tracks a target in a detection target area, A process of acquiring echo data indicating a correspondence relationship between a position in the detection target area and a level of a reflected wave of an electromagnetic wave transmitted via an antenna and reflected at the position; a tracking process for tracking the target based on the echo data; and setting a tracking prohibition area including a target area in which the level of the reflected wave is equal to or greater than a predetermined value and the size of the target area is equal to or greater than a predetermined value, based on the echo data. A target tracking program for causing a computer to execute a process of performing the tracking process based on the echo data from which data in the tracking prohibited area has been excluded.

Images