【０００１】[0001]
【発明の属する技術分野】本発明はレーダ装置やソナー
装置等による目標探知において、予め設定した警戒領域
へ接近してくる目標を探知した場合、その目標が警戒領
域へ進入する（達する）のはいつか、また進入した後警
戒領域から離脱するのはいつかを予測する技術分野に属
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the detection of a target approaching a preset warning area when detecting a target using a radar device, a sonar device, or the like. It belongs to the technical field of predicting when and when to leave the alert area after entering.
【０００２】[0002]
【従来の技術】従来は、警戒領域を設定した場合、目標
探知装置の位置を中心（原点）とする座標を想定し、原
点から小さい方位角度間隔で放射状に多数設定される方
位線と、原点を中心として狭い距離間隔を置いて設定さ
れる多数の同心円線とによって警戒領域を細区分し、そ
の細区分された１つ（これをセルと呼ぶ）づつの位置座
標をメモリに記憶させていた。2. Description of the Related Art Conventionally, when a warning area is set, a coordinate system having a center (origin) at the position of a target detecting device is assumed, and a large number of azimuth lines are set radially at small azimuth angle intervals from the origin. The alert area is subdivided by a number of concentric lines set at a small distance from the center, and the position coordinates of each of the subdivided (referred to as a cell) are stored in the memory. .
【０００３】単純な具体例を図３に示す。図３は、目標
探知装置の位置を原点０とする直交座標である。ここで
は、ｘ軸、ｙ軸および距離１００ｋｍの円弧で囲まれた
４分の１円形が警戒領域として設定されている。FIG. 3 shows a simple example. FIG. 3 shows orthogonal coordinates with the position of the target detection device as the origin 0. Here, a quarter circle surrounded by arcs of the x-axis and the y-axis and a distance of 100 km is set as the alert area.
【０００４】そして、この領域を等角度間隔の多数の方
位線と、等距離間隔の円弧である多数の距離線によって
細かく区分されている。その１区分がセルである。方位
線の角度間隔は例えば０．７度、距離線の間隔は例えば
１ｋｍというように選ばれる。そして、各セルの極座標
アドレス（Ｒm,θn)は、用意されているメモリに記憶さ
れメモリマップとして保持される。[0004] This area is finely divided by a number of azimuth lines at equal angular intervals and a number of distance lines which are circular arcs at equal intervals. One of them is a cell. The angle interval between the azimuth lines is selected to be, for example, 0.7 degrees, and the interval between the distance lines is selected to be, for example, 1 km. Then, the polar coordinate address (Rm , θn ) of each cell is stored in a prepared memory and held as a memory map.
【０００５】このメモリマップの規模は、例えば上記警
戒領域の例では、距離方向にＲ1 〜Ｒ100 の１００区
分、方位方向に ９０÷０．７≒１２８ でθ1 〜θ
128 の１２８区分であるからセル数は１２８００とな
り、この数だけのアドレスを記憶する記憶素子が必要と
いうことになる。警戒領域の設定を状況に応じて変更す
ることが考えられる場合には、そのセル数の最大数に対
応し得る規模のメモリが必要ということになる。[0005] For example, the scale of the memory map is, in the example of the above-mentioned alert area, 100 divisions of R1 to R100 in the distance direction, and 90 ÷ 0.7 ≒ 128 in the azimuth direction, and θ1 to θ.
Since there are 128 divisions of 128, the number of cells is 12800, which means that a storage element for storing addresses of this number is required. If it is conceivable to change the setting of the alert area according to the situation, it is necessary to have a memory having a scale that can correspond to the maximum number of cells.
【０００６】そして、今、警戒領域外に目標が探知され
た場合、着眼時点における目標の進行方向線上に存在す
る警戒領域中のセルを抽出し、それらの各セルが警戒領
域へ進入する位置のセルであるか、警戒領域から離脱す
る位置のセルであるかを一々判定して進入位置のセルと
離脱位置のセルを抽出したうえ、着眼時点における目標
の位置からこれらのセルまでの距離を算出し、着眼時点
における目標速度で、進入位置のセルまでの距離を除し
て進入までの予測時間（進入予測時間）とし、離脱位置
のセルまでの距離を除して離脱までの予測時間（離脱予
測時間）としていた。[0006] When a target is detected outside the guard area, cells in the guard area existing on the line of travel of the target at the point of view are extracted, and the cells at the positions where the cells enter the guard area are extracted. Each cell is determined whether it is a cell or a cell at a position departed from the alert area, and the cell at the entry position and the cell at the departure position are extracted, and the distance to these cells is calculated from the target position at the point of view Then, at the target speed at the point of view, the predicted time to entry is calculated by dividing the distance to the cell at the entry position by the distance to the cell at the entry position (estimated entry time). Prediction time).
【０００７】目標位置が距離Ｒin、方位θinであるとき
に、各セルとの距離は次のようにして求める。各セルの
位置も、目標の位置も極座標で表されているので、ま
ず、これを直交座標に変換した後、２点間の距離を求め
ることになる。目標の直交座標位置を（ｘin，ｙin）と
すれば、それは数式１、数式２のように表される。When the target position is the distance Rin and the azimuth θin , the distance to each cell is obtained as follows. Since both the position of each cell and the position of the target are expressed in polar coordinates, first, they are converted into rectangular coordinates, and then the distance between two points is obtained. Assuming that the target rectangular coordinate position is (xin , yin ), it is expressed by Expressions 1 and 2.
【０００８】[0008]
【数１】ｘin＝Ｒin・sinθin## EQU1 ## xin = Rin · sin θin
【０００９】[0009]
【数２】ｙin＝Ｒin・cosθin[Equation 2] yin = Rin · cos θin
【００１０】一方、各セル（Ｒm,θn)の直交座標
（ｘmn，ｙmn）は数式３、数式４のように表される。On the other hand, the rectangular coordinates (xmn , ymn ) of each cell (Rm , θn ) are represented by equations (3) and (4).
【００１１】[0011]
【数３】ｘmn＝Ｒm ・sinθnXmn = Rm · sin θn
【００１２】[0012]
【数４】ｙmn＝Ｒm ・cosθn[Equation 4] ymn = Rm · cos θn
【００１３】これらの数式で表される目標位置から各セ
ルまでの距離Ｌmnは数式５で表される。The distance Lmn from the target position represented by these equations to each cell is represented by equation 5.
【００１４】[0014]
【数５】(Equation 5)
【００１５】一方、着眼時点の目標速度の検出されたｘ
軸成分をＶx ，ｙ軸成分をＶy とすれば、進行方向にお
ける速度Ｖは数式６で表される。On the other hand, the detected speed x
Assuming that the axis component is Vx and the y-axis component is Vy , the velocity V in the traveling direction is represented by Expression 6.
【００１６】[0016]
【数６】(Equation 6)
【００１７】従って、目標が着眼時点から各セル（Ｒ
m ，θn)へ達するまでの時間ｔmnは数式７で表される。Therefore, the target is set at each cell (R
m, the time tmn to reach the thetan) is expressed by Equation 7.
【００１８】[0018]
【数７】(Equation 7)
【００１９】以上、数式１から数式７までの間で、目標
位置データのＲin，θin、速度データＶx，Ｖy 、セル
位置データＲm ，θnをもとにして行われる演算回数
は、数式１、数式２が各２回ずつ、数式３，数式４が各
２回ずつ、数式５が６回、数式６が４回、数式７が１回
の合計１９回となる。As described above, in the equations (1) to (7), the number of calculations performed based on the target position data Rin and θin , the speed data Vx and Vy , and the cell position data Rm and θn. Equations 1 and 2 are performed twice each, Equations 3 and 4 are performed twice each, Equation 5 is performed 6 times, Equation 6 is performed 4 times, and Equation 7 is performed once, for a total of 19 times.
【００２０】従って、このような演算を進入予測時間と
離脱予測時間の両者について行うこととなる。Therefore, such an operation is performed for both the predicted approach time and the predicted departure time.
【００２１】また、その前に警戒領域中の目標の進行方
向線上に存在するセルの中から進入位置のセルと離脱位
置のセルを抽出するための判定演算が進行方向線上に存
在するセルの回数だけ行われることになる。Before that, the judgment operation for extracting the cell at the entry position and the cell at the departure position from the cells existing on the target traveling direction line in the alert area is performed by the number of times of the cells existing on the traveling direction line. Will only be done.
【００２２】この回数は警戒領域に対する目標の位置お
よび進行方向により異なるが、目標探知装置の上空付近
を経て一直線に遠ざかる場合には、図３の設例では１０
０のセルが直線上にあることになるから判定回数は１０
０回ということになる。そうすると、この場合、進入予
測時間演算１９回、離脱予測時間演算１９回、判定演算
１００回で、合計１３８回の演算が行われることにな
る。The number of times varies depending on the position of the target with respect to the guard area and the traveling direction. However, when the target goes straight in the vicinity of the sky above the target detecting device, 10 times in the example of FIG.
Since the cell of 0 is on a straight line, the number of judgments is 10
It means 0 times. Then, in this case, a total of 138 calculations are performed, including 19 predicted entry time calculations, 19 predicted departure time calculations, and 100 determination calculations.
【００２３】[0023]
【発明が解決しようとする課題】しかしながら、上記従
来技術には、設定される最大警戒領域の面積に対応する
メモリマップが必要であること、また、目標の進行方向
によっては、その進行方向線上にかかるセルの数が多く
なり、進入位置のセルと離脱位置のセルを抽出するまで
の判定回数が非常に多くなるという問題がある。However, the above-mentioned prior art requires a memory map corresponding to the area of the set maximum caution area, and, depending on the traveling direction of the target, the memory map may be located on the traveling direction line. There is a problem that the number of such cells increases, and the number of determinations before extracting the cell at the entry position and the cell at the exit position becomes very large.
【００２４】本発明の目的は、上記従来技術の問題点に
鑑みて、メモリマップを必要とせず、また目標の進行方
向によって演算回数が非常に多くなるということのない
進入目標監視手段を具備した警戒領域進入監視目標探知
装置を提供することにある。An object of the present invention is to provide an entry target monitoring means which does not require a memory map and does not require a large number of calculations depending on the direction of the target in view of the above-mentioned problems of the prior art. An object of the present invention is to provide a warning area entry monitoring target detection device.
【００２５】[0025]
【課題を解決するための手段】上記の目的を達成するた
めに、本発明の警戒領域進入監視目標探知装置は、下記
の各構成を具備する。 （イ）探知した目標の位置を検出する目標位置検出手段 （ロ）探知した目標の進行方位を検出する進行方位検出
手段 （ハ）探知した目標の進行速度を検出する速度検出手段 （ニ）探知領域中に特定の警戒領域を設定する警戒領域
設定手段 （ホ）前記設定警戒領域の輪郭線に対応して、該輪郭線
の方程式を立てる輪郭線方程式手段 （ヘ）警戒領域外で探知した目標の着眼時点における位
置および進行方位から、目標がそのまま直線運動するも
のと仮定した場合の、探知領域平面における目標軌跡の
直線方程式を立てる目標軌跡方程式手段 （ト）前記輪郭線方程式と目標軌跡方程式に基づいて輪
郭線と目標軌跡の交点即ち目標が警戒領域へ進入する位
置（進入予測位置）および警戒領域から離脱する位置
（離脱予測位置）を算出する進入・離脱位置算出手段 （チ）探知した目標の着眼時点における位置から前記進
入予測位置および離脱予測位置までの直線距離を算出す
る距離算出手段 （リ）前記直線距離と、前記着眼時点の速度とから、目
標が警戒領域へ進入するまでの時間および警戒領域から
離脱するまでの時間を算出する進入・離脱予測時間算出
手段Means for Solving the Problems In order to achieve the above object, an alarm area entry monitoring target detecting apparatus of the present invention has the following components. (B) Target position detecting means for detecting the position of the detected target (b) Traveling direction detecting means for detecting the traveling direction of the detected target (c) Speed detecting means for detecting the traveling speed of the detected target (d) Detection Security area setting means for setting a specific security area in the area (e) contour equation means for establishing an equation of the contour corresponding to the contour of the set security area (f) a target detected outside the security area Target trajectory equation means for establishing a linear equation of a target trajectory in the detection area plane, assuming that the target moves linearly as it is from the position and the traveling azimuth at the point of view of the eye (g) The contour equation and the target trajectory equation Based on the intersection of the contour line and the target trajectory, that is, a position at which the target enters the caution area (predicted approach position) and a position at which the target departs from the caution area (predicted departure position). Position calculating means (h) Distance calculating means for calculating a linear distance from the detected position of the target at the point of view to the predicted approach position and the predicted departure position. (I) The target is calculated from the linear distance and the speed at the point of view. Entry / exit predicted time calculating means for calculating a time required for the vehicle to enter the security area and a time required for leaving the security area
【００２６】[0026]
【発明の実施の形態】本発明の実施の形態は、従来技術
のようにメモリマップを用いるのではなく、警戒領域の
輪郭線を方程式化するとともに、着脱時点における目標
の位置および進行方位から、目標がそのまま直線運動を
するものと仮定した場合の目標の予測直線軌跡を方程式
化し、これらの方程式から輪郭線と目標軌跡の交点の座
標を求め、この交点を警戒領域への進入予測位置、警戒
領域からの離脱予測位置とし、着脱時点における目標位
置からの距離を算出し、進入予測位置までの距離及び離
脱予測位置までの距離とし、着眼時点における目標速度
でそれらの距離を除し、進入予測時間および離脱予測時
間とするものである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiment of the present invention does not use a memory map as in the prior art, but formulates a contour line of a guard area and calculates a target position and a traveling direction at the time of attachment / detachment. Formulating the predicted linear trajectory of the target assuming that the target performs linear motion as it is, calculating the coordinates of the intersection of the contour line and the target trajectory from these equations, and using this intersection as the predicted entry position to the warning area, vigilance Calculate the distance from the target position at the time of attachment / detachment as the predicted position of departure from the area, calculate the distance to the predicted entry position and the distance to the predicted departure position, and divide the distance by the target speed at the time of focus to predict the approach. Time and a predicted withdrawal time.
【００２７】[0027]
【実施例】以下、本発明の実施例を図面を参照して説明
する。図１は本発明の目標探知装置の構成を示すブロッ
ク図である。目標位置検出手段１は探知目標の方位θin
および距離Ｒinによる極座標位置を検出し、これより数
式１および数式２により直交座標位置（ｘin，ｙin）に
変換して出力する。進行方位検出手段２は目標の進行方
位θT を検出する。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the target detection device of the present invention. The target position detecting means 1 detects the azimuth θin of the detection target.
And a polar coordinate position based on the distance Rin is detected, and is converted into an orthogonal coordinate position (xin , yin ) according to Equations 1 and 2 and output. The traveling direction detecting means 2 detects the traveling direction θT of the target.
【００２８】速度検出手段３は目標速度の直交座標成分
Ｖx ，Ｖｙを検出する。警戒領域設定手段４は、例えば
図２の如き所定の警戒領域を設定する手段である。目標
軌跡方程式手段５は、目標位置検出手段１からの目標位
置（ｘin，ｙin）と、進行方位検出手段から目標の進行
方位θT を受け、目標軌跡の予測直線方程式を生成す
る。The speed detecting means 3 detects the orthogonal coordinate components Vx,V y of the target speed. The warning area setting means 4 is means for setting a predetermined warning area as shown in FIG. 2, for example. The target trajectory equation means 5 receives the target position (xin , yin ) from the target position detection means 1 and the traveling azimuth θT of the target from the traveling azimuth detecting means, and generates a predicted straight line equation of the target trajectory.
【００２９】この方程式は、図２に示すように、直交座
標において点（ｘin，ｙin）を通り、勾配が１／tanθT
の直線の方程式であるから、数式８のようになる。As shown in FIG. 2, this equation passes through a point (xin , yin )in rectangular coordinates and has a gradient of 1 / tan θT
Equation 8 is obtained from the equation of the straight line
【００３０】[0030]
【数８】ｙ＝ｘ／tanθT ＋ｙin−ｘin／tanθT[Equation 8] y = x / tan θT + yin −xin / tan θT
【００３１】この数式情報は進入・離脱位置算出手段６
へ送られる。一方、警戒領域設定手段４で警戒領域が設
定されると輪郭線方程式手段７は、その領域情報により
警戒領域の輪郭線の方程式を決定する。This formula information is calculated by the approach / leaving position calculating means 6.
Sent to On the other hand, when the alert area is set by the alert area setting means 4, the contour equation means 7 determines the equation of the contour of the alert area based on the area information.
【００３２】図２の例でいうなら、輪郭線ａ、輪郭線
ｂ、輪郭線ｃの方程式を決定する。輪郭線ａ、および輪
郭線ｃは原点を通る比例直線であるから、その方程式は
それぞれ数式９、数式１０のようになる。In the example of FIG. 2, the equations of the contour a, the contour b, and the contour c are determined. Since the contour line a and the contour line c are proportional straight lines passing through the origin, their equations are as shown in Equations 9 and 10, respectively.
【００３３】[0033]
【数９】ｙ＝ｘ／tanθ1## EQU9 ## y = x / tan θ1
【００３４】[0034]
【数１０】ｙ＝ｘ／tanθ2## EQU10 ## y = x / tan θ2
【００３５】また、輪郭線ｂは原点を中心とする半径Ｒ
の円弧であるから、その方程式は数式１１のようにな
る。The contour line b has a radius R centered on the origin.
, The equation is as shown in Equation 11.
【００３６】[0036]
【数１１】ｘ2 ＋ｙ2 ＝Ｒ2X2 + y2 = R2
【００３７】そして、これらの数式情報は、進入・離脱
位置算出手段６へ送られる。そこで、今、図２におい
て、着眼時点における目標位置が（ｘin，ｙin）で、進
行方位がθT とすれば、目標軌跡の予測直線は点線の直
線Ｔのようになる。The mathematical formula information is sent to the entry / exit position calculating means 6. Therefore, in FIG. 2, if the target position at the point of view is (xin , yin ) and the traveling azimuth is θT , the predicted straight line of the target trajectory becomes a dotted straight line T.
【００３８】この場合、目標が警戒領域へ進入する位置
（進入予測位置）は、輪郭線ｃと直線Ｔの交点（ｘ1,ｙ
1)ということになる。そこで、進入・離脱位置算出手段
６は直線Ｔの方程式である数式８と輪郭線ｃの方程式で
ある数式１０とから交点の座標（ｘ1,ｙ1)を算出する。In this case, the position at which the target enters the warning area (estimated entry position) is determined by the intersection (x1 , y) of the contour c and the straight line T.
1 ) Therefore, the entry / exit position calculating means 6 calculates the coordinates (x1 , y1 ) of the intersection from Equation 8 which is the equation of the straight line T and Equation 10 which is the equation of the contour c.
【００３９】これは、両式をイコールとしてｘ1 を求
め、そのｘ1 を数式８又は数式１０へ代入することによ
り、ｙ1 が求められる。その結果、ｘ1 は数式１２、ｙ
1 は数式１３のようになる。In this case, y1 is obtained by obtaining x1 using both equations as equals and substituting x1 into Expression 8 or Expression 10. As a result, x1 is given by Equation 12, y
1 is as shown in Expression 13.
【００４０】[0040]
【数１２】ｘ1 ＝（ｙin・tanθT −ｘin）・tanθ2 ／
（tanθT −tanθ2)X1 = (yin · tan θT −xin ) · tan θ2 /
(Tan θT −tan θ2 )
【００４１】[0041]
【数１３】 ｙ1 ＝（ｙin・tanθT −ｘin）／（tanθT −tanθ2)Y1 = (yin · tan θT −xin ) / (tan θT −tan θ2 )
【００４２】こうして得られた進入予測位置情報は距離
算出手段８へ送られる。一方、距離算出手段８へは目標
位置検出手段１から着眼時点の目標位置座標（ｘin，ｙ
in）が入力されており、両位置間の距離Ｌinが数式１４
によって計算される。The predicted approach position information thus obtained is sent to the distance calculating means 8. On the other hand, the distance calculation means 8 receives the target position coordinates (xin , y
in ) is input, and the distance Lin between the two positions is expressed by Expression 14
Is calculated by
【００４３】[0043]
【数１４】[Equation 14]
【００４４】この距離情報は進入・離脱予測時間算出手
段９へ送られ、速度検出手段３から送られて来ている目
標速度Ｖx ，Ｖy とで数式１５により、目標が着眼時点
の位置から進入予測位置へ達するまでの進入予測時間ｔ
inを算出する。This distance information is sent to the entry / exit predicted time calculating means 9 and the target speeds Vx and Vy sent from the speed detecting means 3 are calculated from the position at the time of eye-pointing by the equation (15). Predicted approach time t to reach predicted approach position
to calculate thein.
【００４５】[0045]
【数１５】(Equation 15)
【００４６】以上のようにして、進入予測時間ｔinを求
めるための演算回数を見てみれば、数式１および数式２
が各２回、数式１２が９回、数式１３が７回、数式１４
が６回、数式１５が５回で合計３１回である。As can be seen from the number of operations for obtaining the predicted entry time tin as described above, Equations 1 and 2
Is twice, Equation 12 is 9 times, Equation 13 is 7 times, and Equation 14 is
Is 6 times and Expression 15 is 5 times, for a total of 31 times.
【００４７】次に、目標が警戒領域を離脱する位置（離
脱予測位置）は、直線Ｔと輪郭線ｂの交点（ｘ2 、ｙ2)
ということになる。そこで、進入・離脱位置算出手段６
は直線Ｔの方程式である数式８と輪郭線ｂの方程式であ
る数式１１とからなる連立方程式を解いて離脱予測位置
の座標（ｘ2 、ｙ2)を算出する。今、演算の簡明のた
め、数式８の係数および定数に次の数式１６、数式１７
による置換を行う。Next, the position at which the target leaves the caution area (predicted departure position) is determined by the intersection (x2 , y2 ) of the straight line T and the contour line b.
It turns out that. Therefore, the entry / exit position calculating means 6
Solves a simultaneous equation consisting of Equation 8 which is the equation of the straight line T and Equation 11 which is the equation of the contour line b, and calculates the coordinates (x2 , y2 ) of the predicted departure position. Now, for the sake of simplicity of the calculation, the following equations 16 and 17 are added to the coefficients and constants of the equation 8.
Replace with
【００４８】[0048]
【数１６】（１／tanθT) →ａT(16) (1 / tanθT ) → aT
【００４９】[0049]
【数１７】（ｙin−ｘin／tanθT) →ｂT[Equation 17] (yin −xin / tan θT ) → bT
【００５０】この置換を行うと、数式８は数式１８のよ
うになる。When this replacement is performed, Expression 8 becomes Expression 18.
【００５１】[0051]
【数１８】ｙ＝ａT ・ｘ＋ｂT[Equation 18] y = aT × x + bT
【００５２】そして、この数式１８と数式１１とからな
る連立方程式を解くと、交点の座標（ｘ2 、ｙ2)は数式
１９、数式２０となる。Then, when solving the simultaneous equations composed of the equations (18) and (11), the coordinates (x2 , y2 ) of the intersection are expressed by the equations (19) and (20).
【００５３】[0053]
【数１９】[Equation 19]
【００５４】[0054]
【数２０】ｙ2 ＝ａT ・ｘ2 ＋ｂT[Equation 20] y2 = aT · x2 + bT
【００５５】こうして得られた離脱予測位置情報は距離
算出手段８へ送られ、目標位置検出手段１からの目標位
置座標（ｘin、ｙin）とで両位置間の距離Ｌout が数式
２１によって計算される。The departure predicted position information thus obtained is sent to the distance calculating means 8, and the distance Lout between the two positions is calculated from the target position coordinates (xin , yin ) from the target position detecting means 1 by the following equation (21). Is calculated.
【００５６】[0056]
【数２１】(Equation 21)
【００５７】この距離情報は進入・離脱予測時間算出手
段９へ送られ、速度検出手段３から送られて来ている目
標速度Ｖx 、Ｖy とで数式２２により、目標が警戒領域
を離脱するまでの離脱予測時間ｔout を算出する。This distance information is sent to the approaching / leaving predicted time calculating means 9, and the target leaves the warning area by using the target speeds Vx and Vy sent from the speed detecting means 3 according to equation (22).Is calculated until the time tout is reached.
【００５８】[0058]
【数２２】(Equation 22)
【００５９】以上のようにして、離脱予測時間ｔout を
求めるための演算回数を見てみれば、数式１および数式
２が各２回、数式１６の括弧内が２回、数式１７の括弧
内が３回、数式１９が１２回、数式２０が２回、数式２
１が６回、数式２２が５回の合計３４回となる。As can be seen from the above, the number of calculations forobtaining the predicted departure time tout is as follows. Equations 1 and 2 are twice each, the parentheses in Equation 16 are twice, and the parentheses in Equation 17 are two times. Is three times, Equation 19 is twelve times, Equation 20 is two times, Equation 2
1 is 6 times and Expression 22 is 5 times, for a total of 34 times.
【００６０】先に求めた進入予測時間の演算回数が３１
回であるから離脱予測時間の演算回数と合わせて６５回
ということになる。The number of calculations of the predicted entry time calculated earlier is 31
This is 65 times, which is the total number of times of calculation of the departure prediction time.
【００６１】以上のように本発明装置では、警戒領域の
輪郭線と目標軌跡の予測直線との交点（進入点と離脱点
の２点）を求めることを基本としているから、警戒領域
の大小によっては演算回数は変わらない。As described above, the device of the present invention is based on finding the intersection (two points of the entry point and the departure point) between the contour line of the guard area and the predicted straight line of the target trajectory. Does not change the number of operations.
【００６２】また、輪郭線と直線のみとするか、或いは
直線と曲線を組み合わせるにしても、円、楕円、２次曲
線などのような比較的単純な曲線と組み合わせることに
より輪郭線方程式と予測直線方程式とからなる連立方程
式の解、即ち交点の座標式も実施例に較べて複雑にはな
らず、演算回数は殆ど増加しない。Even if only the contour and the straight line are used, or if the straight line and the curve are combined, the contour equation and the predicted straight line can be obtained by combining with a relatively simple curve such as a circle, an ellipse, or a quadratic curve. The solution of the simultaneous equations including the equations, that is, the coordinate formula of the intersection is not complicated as compared with the embodiment, and the number of calculations hardly increases.
【００６３】[0063]
【発明の効果】以上説明したように、本発明装置では、
警戒領域への進入予測時間、警戒領域からの離脱予測時
間を求めるのに、警戒領域の輪郭線と目標軌跡の予測直
線の交点を、輪郭線方程式と予測直線方程式からなる連
立方程式の解を求めることにより、求めることを基本と
したため、従来用いられていた、セルのアドレスを記憶
するマップメモリが不要となるという大きな利点がある
とともに、演算回数が、従来技術においては警戒領域の
大きさや、目標の位置および進行方向によって演算回数
が数１０回から数百回に渡るのに対して、警戒領域の大
きさや形状、目標の位置や進行方向にかかわりなく１０
０回に満たない或る範囲の回数で進入予測時間や離脱予
測時間を求めることができるという利点を有する。As described above, in the apparatus of the present invention,
To calculate the predicted time to enter the warning area and the predicted time to leave the warning area, find the intersection of the predicted line of the contour of the warning area and the target trajectory, and solve the simultaneous equations consisting of the contour line equation and the predicted line equation Thus, since it is based on finding, there is a great advantage that a map memory for storing cell addresses, which has been used conventionally, becomes unnecessary, and the number of operations is reduced in the prior art, such as the size of the guard area and the target. Depending on the position and the traveling direction, the number of calculations ranges from tens to hundreds of times, whereas the number of operations may be 10 irrespective of the size and shape of the alert area, the target position and the traveling direction.
There is an advantage that the predicted entry time and the predicted departure time can be obtained with a certain number of times less than zero.
【図１】本発明装置の構成を示すブロック図である。FIG. 1 is a block diagram showing a configuration of a device of the present invention.
【図２】本発明装置における、警戒領域への進入予測時
間および警戒領域からの離脱時間を求めるための説明図
である。FIG. 2 is an explanatory diagram for obtaining a predicted entry time to a security area and a time to leave the security area in the apparatus of the present invention.
【図３】従来技術における警戒領域への進入予測時間お
よび警戒領域からの離脱時間を求めるための説明図であ
る。FIG. 3 is an explanatory diagram for obtaining a predicted access time to a warning area and a departure time from the warning area in the related art.
１ 目標位置検出手段 ２ 進行方位検出手段 ３ 速度検出手段 ４ 警戒領域設定手段 ５ 目標軌跡方程式手段 ６ 進入・離脱位置算出手段 ７ 輪郭線方程式手段 ８ 距離算出手段 ９ 進入・離脱予測時間算出手段 DESCRIPTION OF SYMBOLS 1 Target position detecting means 2 Heading direction detecting means 3 Speed detecting means 4 Warning area setting means 5 Target trajectory equation means 6 Entry / exit position calculating means 7 Contour line equation means 8 Distance calculating means 9 Entry / exit predicted time calculating means
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000037618AJP3576444B2 (en) | 2000-02-16 | 2000-02-16 | Warning area entry monitoring target detection device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000037618AJP3576444B2 (en) | 2000-02-16 | 2000-02-16 | Warning area entry monitoring target detection device |
| Publication Number | Publication Date |
|---|---|
| JP2001228244Atrue JP2001228244A (en) | 2001-08-24 |
| JP3576444B2 JP3576444B2 (en) | 2004-10-13 |
| Application Number | Title | Priority Date | Filing Date |
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| JP2000037618AExpired - LifetimeJP3576444B2 (en) | 2000-02-16 | 2000-02-16 | Warning area entry monitoring target detection device |
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| CN113128480A (en)* | 2021-05-19 | 2021-07-16 | 北京邮电大学 | Multi-target perimeter intrusion early warning method with authentication function |
| CN118397095A (en)* | 2024-06-24 | 2024-07-26 | 天维尔信息科技股份有限公司 | Intelligent positioning method and system for alarm person |
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| CN113128480A (en)* | 2021-05-19 | 2021-07-16 | 北京邮电大学 | Multi-target perimeter intrusion early warning method with authentication function |
| CN118397095A (en)* | 2024-06-24 | 2024-07-26 | 天维尔信息科技股份有限公司 | Intelligent positioning method and system for alarm person |
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