JP4771890B2 - Tracking reliability judgment program - Google Patents

Description

The present invention relates to a tracking reliability determination program .

  2. Description of the Related Art Conventionally, a method for determining the reliability of a tracking result by a tracking sensor that monitors a road and tracks a moving body (such as a vehicle) moving on the road is known. In recent years, various driving support systems have been developed for the purpose of preventing and reducing traffic accidents and providing a comfortable driving environment for drivers. Among them, tracking sensors that track moving objects on the road For example, there is a possibility that the driver may perform a driving operation based on incorrect (low reliability) information, resulting in an accident. The development of is very important.

  For example, Patent Document 1 discloses a method of determining the reliability of the tracking result of each sensor in an inter-vehicle distance detection device including a fusion sensor of a visible sensor (camera) and a millimeter wave sensor. Specifically, factors that affect the reliability of the tracking results obtained by the visible sensor include weather conditions such as rain and fog, so the driving state of the wiper of the vehicle equipped with the inter-vehicle distance detection device (the wiper's "Rain intensity" is determined from the driving speed), "Fog is present" is determined based on whether the fog lamp of the vehicle is switched on or off, and the image data captured by the visual sensor (camera) The difference between the brightness data of the taillight of the preceding vehicle included and the brightness data around the taillight is calculated to determine “mist fog density” (for example, the darker the fog, the smaller the difference in brightness). From these determination results The reliability of the tracking result by the visible sensor at the time is determined.

  Factors that affect the reliability of the tracking results obtained by the millimeter wave sensor include the complexity of the road on which the vehicle is traveling (the radius of the curve, the speed limit, the road width, whether the vehicle is within an intersection, etc.). Therefore, from the position information acquired from the GPS receiver or beacon receiver mounted on the vehicle, the complexity of the road on which the vehicle is traveling is judged, and the millimeter wave sensor tracking at that time is determined from the judgment result. The reliability of the result is judged.

Japanese Patent No. 2900737

  By the way, the above-described conventional technique has a problem that the reliability of the tracking result by the tracking sensor cannot always be determined with high accuracy. That is, in the above-described conventional technology, a factor that affects the reliability of the tracking result by the tracking sensor is assumed in advance, and the reliability of the tracking result by the tracking sensor is determined only by determining whether the factor has occurred or not. However, since the tracking result itself by the tracking sensor is not evaluated, the reliability of the tracking result by the tracking sensor cannot always be accurately determined.

  In addition, in the above-described conventional technology, the reliability with respect to a decrease in the vehicle tracking ability of the tracking sensor due to factors such as congestion of the vehicle due to traffic congestion or fires is determined. Since the determination cannot be made, the reliability of the tracking result obtained by the tracking sensor cannot always be accurately determined.

  In the above-described prior art, the determination of the intensity of rain and the weather condition of the generation of fog is based on an operation based on the driver's subjective determination, such as whether the wiper is driven or whether the fog lamp is switched on or off. Therefore, the reliability of the tracking result obtained by the tracking sensor cannot always be accurately determined.

  Furthermore, in the above-described prior art, the fog density is determined from the difference in brightness between the tail lamp of the preceding vehicle and the vicinity of the tail lamp, but this is an objective only when the tail lamp of the preceding vehicle is lit. Therefore, the reliability of the tracking result by the tracking sensor cannot always be accurately determined.

Accordingly, the present invention has been made to solve the above-described problems of the prior art, and provides a tracking reliability determination program capable of accurately determining the reliability of the tracking result by the tracking sensor. With the goal.

In order to solve the above-described problems and achieve the object, the present invention provides a moving body that tracks a moving body that moves within the range using image data of a predetermined range acquired by a tracking sensor or reflected wave data. a tracking reliability determination program for executing the determined tracking reliability determination method the reliability of the tracking result by tracking device to a computer, from a plurality of specific position sensor for monitoring a plurality of specific positions in the predetermined range , Mobile object information acquisition procedure for acquiring mobile object information that is information of a mobile object that passes through each specific position, and collation with mobile object information for each of the plurality of specific positions acquired by the mobile object information acquisition procedure possible information, move to convert the tracking result by the moving object tracking device, the mobile body information that is information of a moving body passing through each of the plurality of specific positions And body information conversion procedure collates whether mobile information converted by said mobile body information conversion procedure is identical to the mobile information acquired by the moving body information obtaining step for each of the plurality of specific positions A reliability determination procedure for determining the reliability of the tracking result by the mobile tracking device for each of the plurality of specific positions, and a reliability determined by the reliability determination procedure is lower than a predetermined reliability When there is a specific position that is a degree, the mobile tracking device issues an operation stop instruction to stop the operation of the tracking results in the range behind the specific sensor from the specific position within the predetermined range. And an operation stop instruction transmission procedure to be transmitted to the computer.

Further, the present invention is the above invention, wherein the specific position sensor is a sensor that detects the presence or absence of a moving body that passes through the specific position, and the moving body information acquisition procedure includes: Passing presence / absence information indicating the presence / absence of a moving body that passes through the specific position is acquired, and the moving body information conversion procedure obtains the result of tracking by the mobile body tracking device as to the presence / absence of a moving body that passes through the specific position. The reliability determination procedure checks whether or not the passage presence / absence information converted by the mobile body information conversion procedure matches the passage presence / absence information acquired by the mobile body information acquisition procedure. Then, the reliability of the tracking result by the mobile tracking device is determined.

Further, in the above invention, the present invention provides the tracking sensor with respect to the tracking sensor when the reliability determination procedure determines that the reliability of the tracking result by the tracking sensor is lower than a predetermined reliability. An operation stop instruction sending procedure for sending an operation stop instruction indicating that the operation of the result should be stopped is further executed by the computer.

Further, the present invention is the above invention, wherein the tracking sensor is a plurality of tracking sensors that respectively track the moving body by different methods, and the moving body information conversion procedure includes the tracking sensor for each of the plurality of tracking sensors. The tracking result by the mobile body tracking device is converted into mobile body information that is information of the mobile body that passes through the specific position, and the reliability determination procedure is performed for each of the plurality of tracking sensors. The mobile body information converted by the mobile body information acquisition procedure is compared with the mobile body information acquired by the mobile body information acquisition procedure, and the reliability of the tracking results for each of the plurality of tracking sensors by the mobile body tracking device The operation stop instruction transmission procedure compares the reliability of the tracking results obtained by the tracking sensors determined by the reliability determination procedure with each other, and the reliability is the best. Track Results operation stop instruction to stop the operation of using the tracking sensors other than tracking sensor, characterized in that it sends to the mobile tracking unit.

In addition, the present invention provides a tracking obtained by tracking a moving body moving in the area by monitoring the predetermined area by a plurality of first tracking sensors for each predetermined range in the above invention. A tracking reliability determination program for causing a computer to execute a tracking reliability determination method for determining a reliability of a result, wherein the first tracking is performed on a moving object that monitors any predetermined range and moves within the range. A tracking result acquisition procedure for acquiring the tracking result of the moving body from a second tracking sensor that tracks with higher accuracy than the sensor, and tracking by the first tracking sensor that monitors the same range as the second tracking sensor The reliability of the tracking results by the plurality of first tracking sensors including the first tracking sensor is determined by checking whether the result matches the tracking result acquired by the moving body information acquisition procedure. That is a reliability determining step, characterized by causing a computer to execute the.

According to the present invention, a plurality of the specific position sensor for monitoring the plurality of specific positions in a predetermined range, obtains mobile body information that is information of a moving body passes through each specific position, a plurality acquired As the information that can be collated with the mobile body information of each specific position, the tracking result by the mobile body tracking device is converted into mobile body information that is information of the mobile body that passes through each of the plurality of specific positions. whether the mobile information matches the acquired mobile body information and collation for a plurality of specific positions, to determine the reliability of the tracking result by the moving object tracking device for each of a plurality of specific positions, determination If there is a specific position whose reliability is lower than the predetermined reliability, the operation of the tracking results in the range behind the tracking sensor from the specific position is stopped in the predetermined range. Operation to the effect Since sends a stop instruction to the moving object tracking device, a mobile information converted from the results tracking by the tracking sensor, and compares the moving object information acquired from the particular position sensor, evaluating the tracking result itself by tracking sensor It is possible to accurately determine the reliability of the tracking result by the tracking sensor.

Further, according to the present invention, the passage presence / absence information indicating the presence / absence of the moving body passing through the specific position is acquired from the specific position sensor, and the tracking result by the mobile body tracking device is obtained from the moving body passing through the specific position. Converts to pass / fail information indicating presence / absence, and checks whether the converted pass / fail information matches the pass / fail information acquired from the specific position sensor, and determines the reliability of the tracking result by the mobile tracking device Therefore, the tracking result of the tracking sensor itself can be evaluated by comparing the presence / absence of passage of the moving body converted from the tracking result of the tracking sensor with the presence / absence of passage of the moving body acquired from the specific position sensor. It is possible to accurately determine the reliability of the tracking result by.

Further, according to the present invention, when it is determined that the reliability of the tracking result by the tracking sensor is lower than the predetermined reliability, the operation stop instruction that the operation of the tracking result should be stopped to the tracking sensor. Can be instructed to stop the operation of the “tracking result by the tracking sensor” with low reliability, and only provide highly reliable driving assistance information without providing the driver with the tracking result with low reliability. It can be provided to the driver.

In addition, according to the present invention, the tracking result by the mobile tracking device for each of the plurality of tracking sensors is converted into mobile body information that is information on the mobile body passing through a specific position, and is converted for each of the plurality of tracking sensors. Checking whether or not the mobile object information matches the mobile object information acquired by the mobile object information acquisition procedure, and determining the reliability of the tracking results for each of the plurality of tracking sensors by the mobile object tracking device ; The reliability of the tracking results by each tracking sensor is compared with each other, and an operation stop instruction to stop the operation of the tracking results using a tracking sensor other than the tracking sensor with the best reliability is given to the mobile tracking device. since sent for, can provide tracking result by tracking sensor reliability is judged to be the best among the plurality of tracking sensors to the driver, only the driver reliable driving support information Provide It becomes possible.

Further, according to the present invention, from the second tracking sensor that monitors any predetermined range and tracks the moving body moving within the range with higher accuracy than the first tracking sensor, The tracking result is obtained and the first tracking sensor that monitors the same range as the second tracking sensor is checked whether or not the tracking result matches the acquired tracking result, and the first tracking sensor is included. Since the reliability of the tracking results by a plurality of first tracking sensors is determined, for example, the range in which the high reliability of the tracking results by the “first tracking sensor” is particularly required in all monitoring areas (a crosswalk is installed) The tracking results of the "first tracking sensor" can be converted to the "second tracking sensor" by placing the "second tracking sensor", which is more accurate than the "first tracking sensor", together with the "second tracking sensor". Can be compared with the tracking results of The reliability of the tracking results of "it is possible to accurately determine. In addition, since the reliability can be determined for the tracking results of each “first tracking sensor” that monitors a plurality of ranges close to the range monitored by the “first tracking sensor” whose reliability is determined, Therefore, it is not necessary to install a “second tracking sensor” in the range, and the cost of capital investment can be kept low.

Exemplary embodiments of a tracking reliability determination program according to the present invention will be described below in detail with reference to the accompanying drawings. In the following, a tracking reliability determination apparatus including a tracking reliability determination program according to the present invention will be described as an embodiment. In the following, the configuration and processing procedure of the tracking reliability determination apparatus according to the first embodiment and the effects of the first embodiment will be described in order, and then the tracking reliability determination according to the second embodiment will be described as in the first embodiment. The apparatus, the tracking reliability determination device according to the third embodiment, the tracking reliability determination device according to the fourth embodiment, and the tracking reliability determination device according to the fifth embodiment will be described in this order.

[Explanation of terms]
First, main terms used in the following examples will be described. The “monitoring range” used in the following embodiments is a range that is collectively monitored by the “tracking sensor”, and includes, for example, roads on which vehicles and pedestrians pass. Corresponds to “range of”. Further, the “moving body” is an object that is detected and tracked by the “tracking sensor”, and specifically corresponds to a vehicle traveling on a road and a pedestrian walking on the road. The “tracking sensor” is a sensor that tracks a “moving body” that monitors the road and moves on the road. Specifically, the “tracking sensor” captures the “monitoring range” and acquires an image “ “Visible sensor (camera)” and “monitoring range” are imaged, and “infrared sensor (infrared camera)” that obtains images including high and low temperature data, and “monitoring range” are irradiated with millimeter waves, Examples include a “millimeter wave sensor” that determines the presence or absence of a “moving body” and acquires reflected wave data that can calculate speed information of the “moving body”.

  In addition, the “tracking result” means that the “moving object” that has entered the “monitoring range” is detected based on the data acquired by the “tracking sensor” and the “moving object” passes through the “monitoring range”. During this period, the result of tracking the “moving object” while maintaining the state where the identification information for uniquely identifying the “moving object” is provided, and this result is provided to the driver who drives the vehicle as driving support information. Is done. The “tracking result reliability” is an index that indicates how accurately the “tracking result” reflects the status of the “moving object” that has passed on the road.

  The “specific position sensor” is a sensor installed in the vicinity of a “specific position” (hereinafter referred to as a specific position) set in the “monitoring range”. Can be obtained accurately. Specifically, "ultrasonic sensor" that obtains reflection data that can determine the presence of an object by emitting ultrasonic waves to a specific position, or the presence of an object by irradiating a specific position with a millimeter wave `` Millimeter wave sensor '' that obtains reflected wave data that can calculate velocity information and embedded under a specific position, and changes in the magnetic field caused by the vehicle passing over it There is a “loop coil” that determines the presence / absence and calculates speed information.

[Outline and Features of Tracking Reliability Judgment Device in Embodiment 1]
Next, the main features of the tracking reliability determination apparatus according to the first embodiment will be specifically described with reference to FIG. FIG. 1 is a diagram for explaining the outline and characteristics of the tracking reliability determination apparatus according to the first embodiment.

  The tracking reliability determination device according to the first embodiment is mainly characterized by determining the reliability of the tracking result obtained by the tracking sensor as described above, and the main feature is that the reliability of the tracking sensor can be accurately determined. There is.

  Briefly describing this main feature, a camera installed as a tracking sensor continuously captures a monitoring range, and a mobile tracking device described later acquires a tracking result based on the captured continuous image data, This is transmitted to the tracking reliability determination apparatus in the first embodiment. Specifically, as shown in FIG. 1A, the camera continuously displays a monitoring range surrounded by points A, B, C, and D (hereinafter referred to as monitoring range ABCD) on the road. The mobile body tracking device detects a vehicle traveling in the monitoring range ABCD based on the captured continuous image data, and uniquely identifies the vehicle until the vehicle passes the monitoring range ABCD. The tracking result obtained by keeping track of the state to which the identification number is assigned is acquired and transmitted to the tracking reliability determination apparatus according to the first embodiment.

  More specifically, in the moving state of the moving body in the monitoring range ABCD shown in FIG. 1B, the moving body tracking device has three units that travel in the monitoring range ABCD based on the continuous image data captured by the camera. The tracking results of the three vehicles that were tracked with the identification numbers “1”, “2”, and “3” were acquired and transmitted to the tracking reliability determination device in the first embodiment. is doing. Moreover, from the continuous image data which imaged the moving body movement situation of the monitoring range ABCD shown in (C) of FIG. 1, the moving body tracking device is actually in spite of three vehicles traveling on the road. Since the second vehicle and the third vehicle traveling very closely could not be detected separately, the tracking results of the two vehicles tracked with the identification numbers “1” and “2” were obtained. This is acquired and transmitted to the tracking reliability determination apparatus in the first embodiment.

  On the other hand, the tracking reliability determination apparatus according to the first embodiment acquires mobile body information, which is information on a mobile body that passes through the specific position, from a specific position sensor that monitors the specific position in the monitoring range. Specifically, as illustrated in FIG. 1A, the ultrasonic sensor installed as the specific position sensor acquires the presence / absence information of the moving body that has passed the specific position set in the monitoring range ABCD. More specifically, in the moving body moving situation in the monitoring range ABCD shown in FIGS. 1B and 1C, the presence or absence of a moving body that has passed a specific position is detected, and FIGS. As shown in the upper diagram, three vehicles that have reached specific positions at times t1, t2, and t3 are accurately detected, and a graph in which presence / absence information is plotted along the time axis is acquired. Here, as shown in FIG. 1C, the ultrasonic sensor accurately distinguishes and detects the second vehicle and the third vehicle that travel very close to each other, and detects the specific position. Get presence / absence information of passing vehicle.

  In addition, the tracking reliability determination apparatus according to the first exemplary embodiment uses a tracking result obtained by a tracking sensor as information that can be collated with moving body information acquired by a specific position sensor. Convert to information. Specifically, the tracking result acquired by the mobile tracking device is received, and the tracking result is converted into the presence / absence information of the mobile that has passed the specific position. More specifically, in the moving body moving situation in the monitoring range ABCD shown in FIG. 1B, the above-mentioned three identification vehicles “3” tracked with “1”, “2” and “3” are given. "Tracking result" is converted into information that these three vehicles have passed through specific positions at times t1, t2, and t3, respectively, and the passage presence / absence information shown in the lower diagram of FIG. Get the graph plotted along. Further, in the moving body moving situation in the monitoring range ABCD shown in FIG. 1C, the above-mentioned “tracking results of two vehicles tracked with the identification numbers“ 1 ”and“ 2 ”” are obtained. The vehicle is converted into information indicating that the vehicle has passed the specific position at times t1 and t2, respectively, and a graph is obtained by plotting the passage presence / absence information shown in the lower diagram of FIG. 1B along the time axis.

  Subsequently, the tracking reliability determination apparatus according to the first embodiment collates whether or not the converted moving body information matches the moving body information acquired by the specific position sensor, and the reliability of the tracking result by the tracking sensor. Determine. Specifically, as shown in FIGS. 1B and 1C, respectively, “the detection result of the specific position sensor” and “the tracking result of the tracking sensor are used as the presence / absence information of the moving body that has passed the specific position. The reliability is determined by collating with the “conversion result”. In the case of (B) in FIG. 1, both are completely matched, so the reliability is determined to be 100%. In the case of (C) in FIG. 1, two of the three are matched, The reliability is determined to be two-thirds, that is, 66.7%.

  Subsequently, the tracking reliability determination apparatus according to the first embodiment stops the operation of the tracking result for the tracking sensor when it is determined that the reliability of the tracking result by the tracking sensor is lower than the predetermined reliability. Send a stop operation instruction to the effect. Specifically, assuming that the predetermined reliability (reliability setting threshold) is set to 80%, in the case of FIG. 1B, since the reliability is 100%, no operation stop instruction is issued. The tracking results will continue to be used. On the other hand, in the case of FIG. 1C, since the reliability is 66.7%, which is lower than 80%, an instruction to stop the operation of the tracking result is given, and information with low reliability is provided to the driver. Avoid that.

  For this reason, the tracking reliability determination apparatus according to the first embodiment performs tracking by comparing the presence / absence of passage of the moving body converted from the tracking result of the tracking sensor with the presence / absence of passage of the moving body acquired from the specific position sensor. The tracking result itself by the sensor can be evaluated, and the reliability by the tracking sensor can be accurately determined as described above.

[Configuration of Tracking Reliability Judgment Device in Embodiment 1]
Next, the tracking reliability determination apparatus according to the first embodiment will be described with reference to FIGS. FIG. 2 is a block diagram illustrating a configuration of the tracking reliability determination apparatus according to the first embodiment, FIG. 3 is a diagram for explaining a mobile body information acquisition unit, and FIG. 4 illustrates a mobile body information conversion unit. FIG. 5 is a diagram for explaining a tracking reliability determination result storage unit and a tracking operation stop instruction unit.

  As shown in FIG. 2, the tracking reliability determination apparatus 10 according to the first embodiment includes a tracking reliability determination request input unit 11, a tracking reliability determination output unit 12, an input / output control I / F unit 13, and a reception unit. 14, a processing unit 15, and a storage unit 16, and further connected to a specific position sensor 20 and a moving body tracking device 30.

  The mobile body tracking device 30 includes a tracking sensor 30a and a tracking sensor tracking result transmission unit 30b. The tracking sensor 30a is a sensor that tracks a moving body that moves within the monitoring range, and the tracking sensor tracking result transmitting unit 30b uses a tracking sensor tracking, which will be described later, as a tracking result that is a result of analyzing data acquired by the tracking sensor 30a. It transmits to the result receiving part 14a. Specifically, as shown in FIG. 1A, the camera installed as the tracking sensor 30a continuously captures the monitoring range ABCD, and the mobile tracking device 30 converts the captured continuous image data into the captured continuous image data. Based on this, a moving body that has entered the monitoring range ABCD is detected, and the state where the identification information for uniquely identifying the moving body is given is moved until the moving body passes the monitoring range ABCD. The tracking result that is the result of tracking the body is acquired, and the tracking sensor tracking result transmitting unit 30b transmits the tracking result to the tracking sensor tracking result receiving unit 14a described later in response to the tracking reliability determination request.

  More specifically, for example, in the moving body movement state of the monitoring range ABCD shown in the right diagram of FIG. 3A, the tracking sensor 30a continuously changes the monitoring range ABCD (for example, every 1/100 second). The moving body tracking device 30 picks up the image and accurately detects three vehicles that have entered the monitoring range ABCD based on the captured continuous image data until each of the three vehicles passes through the monitoring range ABCD. As shown in the left diagram of FIG. 4A, identification numbers “1”, “2” and “3” are assigned as identification information for uniquely identifying these three vehicles. The tracking results of the tracked three vehicles are acquired, and the tracking sensor tracking result sending unit 30b transmits the tracking result to the tracking sensor tracking result receiving unit 14a described later in response to the tracking reliability determination request.

  In addition, the moving body tracking device 30 is based on the continuous image data obtained by capturing the moving body moving situation shown in the right diagram of FIG. 3B, even though three vehicles are actually traveling on the road. Since the second vehicle and the third vehicle traveling very closely could not be detected separately, the tracking results of the two vehicles tracked with the identification numbers “1” and “2” were obtained. Acquired (refer to the left diagram of FIG. 4B), and travels in the lane next to the lane where the specific position is set from the continuous image data obtained by imaging the moving state of the moving body shown in the right diagram of FIG. The shadow reflected in the puddle generated at the specific position of the vehicle to which the identification number “3” is assigned is erroneously detected as a moving object, and a new identification number “4” is assigned, and the identification number “1”. To obtain the tracking results of four vehicles tracked with “4” (see the left figure in FIG. 4C), and FIG. From the continuous image data obtained by imaging the moving state of the moving body when the fog is generated, as shown in the right figure of (D), the second vehicle having a darker color even though three vehicles are actually traveling on the road. The tracking result of one vehicle that has been tracked with the identification number “1” is obtained (see the left diagram of FIG. 4D), and the tracking sensor tracking result transmitting unit 30b In response to the reliability determination request, the tracking result is transmitted to a tracking sensor tracking result receiving unit 14a described later.

  The tracking result transmitted from the tracking sensor tracking result transmitting unit 30b to the tracking sensor tracking result receiving unit 14a is a tracking result every 1/100 second obtained by processing image data captured every 1/100 second. The tracking result obtained by processing the image data captured every 1/100 second may be, for example, a tracking result every 1/10 second.

  The specific position sensor 20 acquires mobile body information that passes a specific position set in the monitoring range, and transfers the mobile body information to a mobile body information acquisition unit 15a described later. Specifically, as shown in FIG. 1A, the ultrasonic sensor installed as the specific position sensor 20 is located directly above the specific position set in the monitoring range ABCD, and the ultrasonic wave is detected at the specific position. The reflection data that can determine the presence or absence of the moving body that has passed the specific position is acquired, and the acquired reflection data is moved at a certain time interval (for example, every 1/100 second) to be described later. It transfers to the body information acquisition part 15a. More specifically, for example, in the moving body moving situation in the monitoring range ABCD shown in the right diagram of FIG. 3A, the specific position sensor 20 radiates ultrasonic waves to the specific position and returns from the reflected sound. The three vehicles that have reached the specific position at the times t1, t2, and t3 are accurately detected, and the three vehicles move to the specific position at times other than the time zone in which they pass the specific position. It also accurately detects the absence of a body.

  The tracking reliability determination request input unit 11 receives a tracking reliability determination request and is configured with a keyboard, a mouse, and the like. Specifically, the tracking reliability determination request input unit 11 includes tracking reliability from an operator belonging to a management facility that manages the tracking results of the monitoring range, such as each prefectural traffic control center and VICS (Vehicle Information and Communication System) center. A degree determination request is received, or a tracking reliability determination request is received from the management facility at predetermined time intervals.

  The tracking reliability determination output unit 12 instructs the tracking reliability stored in the tracking reliability determination result storage unit 16c, which will be described later, or the operation stop instruction of the tracking result of the tracking sensor 30a by the processing of the tracking operation stop instruction transmission unit 15d, which will be described later. Is sent to the tracking facility 30a. The management facility provides the information transmitted by the tracking reliability determination output unit 12 to the driver who drives the vehicle as driving support information.

  The input / output control I / F unit 13 controls data transfer between the tracking reliability determination request input unit 11 and the tracking reliability determination output unit 12, the reception unit 14, the processing unit 15, and the storage unit 16.

  The receiving unit 14 includes a tracking sensor tracking result receiving unit 14a. The tracking sensor tracking result receiving unit 14a receives the tracking result by the tracking sensor 30a from the tracking sensor tracking result transmitting unit 30b based on the tracking reliability request transferred from the input / output control I / F unit 13, and the moving body described later The tracking result is transferred to the information conversion unit 15b.

  The storage unit 16 stores various processing results by the processing unit 15 to be described later, and particularly as closely related to the present invention, as shown in FIG. 2, the mobile body information acquisition result storage unit 16a and the mobile body information A conversion result storage unit 16b and a tracking reliability determination result storage unit 16c are provided. The moving body information acquisition result storage unit 16a stores the moving body information acquired by the moving body information acquisition unit 15a described later from the specific position sensor 20, and the moving body information conversion result storage unit 16b stores the moving body information described later. The mobile unit information converted from the tracking result by the conversion unit 15b is stored, and the tracking reliability determination result storage unit 16c stores the reliability of the tracking result calculated by the tracking reliability determination unit 15c described later. Each part will be described in detail later.

  The processing unit 15 executes various processes based on the tracking reliability request transferred from the input / output control I / F unit 13, and particularly as closely related to the present invention, as shown in FIG. The information acquisition part 15a, the mobile body information conversion part 15b, the tracking reliability determination part 15c, and the tracking operation stop instruction | indication transmission part 15d are provided. Here, the mobile object information acquisition unit 15a corresponds to the “mobile object information acquisition procedure” described in the claims, and the mobile object information conversion unit 15b corresponds to the “mobile object information conversion procedure”. The reliability determination unit 15c also corresponds to the “tracking reliability determination procedure”, and the tracking operation stop instruction transmission unit 15d also corresponds to the “operation stop instruction transmission procedure”.

  The mobile body information acquisition unit 15a acquires mobile body information, which is information of a mobile body that passes through the specific position, from the specific position sensor 20 that monitors the specific position in the monitoring range, and stores the result of the mobile body information acquisition result. It memorize | stores in the part 16a. Specifically, as shown in FIG. 1A, the moving body information acquisition unit 15a acquires the presence / absence information of the moving body that has passed the specific position set in the monitoring range ABCD from the specific position sensor 20.

  More specifically, the presence or absence of a moving body that has passed a specific position in the moving body moving situation in the monitoring range ABCD shown in the right diagram of each of (A), (B), (C), and (D) of FIG. Detect and accurately detect three vehicles that have reached specific positions at times t1, t2, and t3, respectively, as shown in the left diagrams of FIGS. 3 (A), (B), and (D), Also, as shown on the left side of FIG. 3C, two vehicles that have approached specific positions at time t1 and t2 are detected accurately, and graphs in which presence / absence information is plotted along the time axis are acquired. . Here, as shown in the right diagram of FIG. 3B, the ultrasonic sensor accurately distinguishes and detects the second vehicle and the third vehicle traveling very closely, As shown in the right diagram of FIG. 3C, the shadow of the vehicle traveling in the adjacent lane in which the specific position reflected in the puddle generated in the specific position due to rain is set is not erroneously detected as a vehicle. Further, as shown in the right diagram of FIG. 3D, three vehicles are accurately detected even in a foggy situation, and the presence / absence information of the vehicles that have passed the specific position is acquired.

  Then, the mobile body information acquisition unit 15a stores the acquired mobile body information in the mobile body information acquisition result storage unit 16a.

  The mobile body information conversion unit 15b converts the tracking result by the tracking sensor 30a into mobile body information that is information of the mobile body passing through the specific position as information that can be collated with the mobile body information acquired by the specific position sensor 20. Then, the result is stored in the mobile object information conversion result storage unit 16b. Specifically, as shown in FIG. 1A, the moving body information conversion unit 15b is configured to continuously image data of the monitoring range ABCD captured by the tracking sensor 30a (for example, image data every 1/100 second). The tracking result acquired based on the tracking sensor is received from the tracking sensor tracking result receiving unit 14a, and the tracking result is converted into the presence / absence information of the moving body that has passed the specific position. More specifically, the result of tracking by the tracking sensor 30a shown in the left diagram of each of (A), (B), (C), and (D) of FIG. 4 is converted into presence / absence information of a moving body that has passed a specific position. Then, as shown in the right diagrams of FIGS. 4A, 4 </ b> B, 4 </ b> C, and 4 </ b> D, a graph is obtained in which the presence / absence information of the vehicle that has passed the specific position is plotted along the time axis.

  That is, from the “tracking results of three vehicles tracked with identification numbers“ 1 ”,“ 2 ”, and“ 3 ”given in the left diagram of FIG. 4 is converted into information indicating that it has passed at times t1, t2, and t3, respectively, and the graph shown in the right diagram of FIG. 4A is obtained. The “identification number” shown in the left diagram of FIG. From the “tracking results of two vehicles tracked with“ 1 ”and“ 2 ””, the information is converted into information that these two vehicles have passed through specific positions at times t1 and t2, respectively. The graph shown in the right figure of (B) is acquired, and these are obtained from the “tracking results of four vehicles tracked by giving identification numbers“ 1 ”to“ 4 ”” shown in the left figure of FIG. Of the four vehicles, three vehicles with identification numbers “1”, “2”, and “4” each have a specific position. It is converted into information that it has passed at the times t1, t2, and t3, and the graph shown in the right diagram of FIG. 4C is acquired. The “identification number“ 1 ”shown in the left diagram of FIG. The graph shown in the right diagram of FIG. 4D is converted from the “tracking result of one vehicle tracked with“ ”to information indicating that this one vehicle has passed through a specific position at time t2. To get.

  Then, the mobile body information conversion unit 15b stores the converted mobile body information in the mobile body information conversion result storage unit 16b. In addition, the mobile body information conversion unit 15b may process all the tracking results every 1/100 second received by the tracking sensor tracking result receiving unit 14a, and among the received tracking results, for example, 10 minutes The tracking result every 1 second may be processed.

  The tracking reliability determination unit 15c checks whether the converted moving body information matches the moving body information acquired by the specific position sensor 20, determines the reliability of the tracking result by the tracking sensor 30a, The result is stored in the tracking reliability determination result storage unit 16c. Specifically, as shown in (A), (B), (C) and (D) of FIG. 5, the left diagrams of (A), (B), (C) and (D) of FIG. The “specific position sensor detection results” shown in FIG. 4 and the “tracking sensor tracking results shown in the right diagrams of FIGS. 4A, 4B, 4C, and 4D are used as specific positions. The reliability is determined by comparing each of the result of conversion into the presence / absence information of the moving body that has passed. In the case of (A) in FIG. 5, since they are completely coincident with each other, it is determined that the reliability is 100%. In the case of (B) in FIG. 5 and (C) in FIG. Since they match each other, the reliability is determined to be two-thirds, that is, 66.7%. In the case of FIG. 5D, since one of the three matches, the reliability is 3 minutes. 1 or 33.3%.

  Then, the tracking reliability determination unit 15c stores the reliability of the tracking result by the tracking sensor 30a determined by collation in the tracking reliability determination result storage unit 16c.

  The tracking operation stop instruction sending unit 15d notifies the tracking sensor 30a that the operation of the tracking result should be stopped when it is determined that the reliability of the tracking result by the tracking sensor 30a is lower than the predetermined reliability. Send out operation stop instruction. Specifically, if 60% is set as the predetermined reliability (reliability setting threshold), in the cases of (A), (B), and (C) in FIG. Since 66.7% and 66.7% are higher than 60%, the operation stop instruction is not issued, and the operation of the tracking result is continued. On the other hand, in the case of FIG. 5D, since the reliability is 33.3%, which is lower than 60%, the tracking result is instructed to stop operation, and information with low reliability is provided to the driver. Avoid that.

[Procedure for Processing by Tracking Reliability Determination Apparatus in Embodiment 1]
Next, processing performed by the tracking reliability determination apparatus 10 according to the first embodiment will be described with reference to FIG. FIG. 6 is a flowchart illustrating a processing procedure of the tracking reliability determination apparatus according to the first embodiment.

  First, when the tracking reliability determination apparatus 10 according to the first embodiment receives a new tracking reliability determination request from the keyboard or the mouse (Yes in step S601), the tracking sensor tracking result reception unit 14a according to the previous tracking reliability determination request, Data stored in the mobile object information acquisition result storage unit 16a, the mobile object information conversion result storage unit 16b, and the tracking reliability determination result storage unit 16c is initialized (erased) (step S602).

  Then, the moving body information acquisition unit 15a starts a process of acquiring moving body information that is information of the moving body that passes through the specific position from the specific position sensor 20 that monitors the specific position in the monitoring range (step S603). . That is, processing for acquiring presence / absence information of a moving body that has passed a specific position set in the monitoring range ABCD is started from an ultrasonic sensor installed as the specific position sensor 20.

  Subsequently, the mobile body information conversion unit 15b uses the tracking result obtained by the tracking sensor 30a as information that can be collated with the mobile body information acquired by the specific position sensor 20, and the mobile body that is information on the mobile body that passes the specific position. The process of converting to information is started (step S604). That is, the tracking result acquired based on the continuous image data of the monitoring range ABCD captured by the camera installed as the tracking sensor 30a is received from the tracking sensor tracking result receiving unit 14a, and the specific position is passed from the tracking result. The process of converting into the presence / absence information of the moving object is started.

  Thereafter, the mobile body information acquisition unit 15a and the mobile body information conversion unit 15b determine whether or not a predetermined time (for example, 2 minutes) has elapsed from the tracking reliability determination request (step S605). Here, when the predetermined time has not elapsed (No at Step S605), the moving body information acquisition unit 15a and the moving body information conversion unit 15b continue the processing.

  On the other hand, when the predetermined time has elapsed since the tracking reliability determination request (Yes in step S605), the mobile body information acquisition unit 15a and the mobile body information conversion unit 15b stop the process, In response, the tracking reliability determination unit 15c determines whether or not the converted moving body information matches the moving body information acquired by the specific position sensor, and determines the reliability of the tracking result by the tracking sensor ( Step S606). That is, the “detection result of the specific position sensor” is compared with the “result of converting the tracking result of the tracking sensor into the presence / absence information of the moving body that has passed the specific position”. The reliability is determined to be 100%. In the case of FIG. 5B and FIG. 5C, the reliability is determined to be 66.7%, and in the case of FIG. 5D, the reliability is determined. Is determined to be 33.3%.

  Then, the tracking operation stop instruction sending unit 15d is configured such that the reliability of the tracking result by the tracking sensor 30a stored in the tracking reliability determination result storage unit 16c is higher than a predetermined reliability (for example, 60% as a reliability setting threshold). It is determined whether it is low (step S607). Here, when it is determined that the reliability of the tracking result is equal to or greater than the reliability setting threshold (No in step S607), the operation stop instruction is not issued to the tracking sensor 30a, and the operation of the tracking result is continued. Then, the process ends (see (A), (B), and (C) of FIG. 5). On the contrary, if it is determined that the reliability of the tracking result is lower than the reliability setting threshold (Yes in step S607), the operation stop indicating that the operation of the tracking result should be stopped for the tracking sensor 30a. An instruction is sent (step S608), and the process is terminated (see (D) of FIG. 5).

[Effect of Example 1]
As described above, according to the first embodiment, from the specific position sensor 20 that monitors the specific position in the monitoring range, the mobile body information that is information on the mobile body that passes through the specific position is acquired. As information that can be collated with the acquired mobile body information, the tracking result by the tracking sensor 30a is converted into mobile body information that is information on the mobile body that passes through the specific position, and the converted mobile body information is converted into the specific position sensor 20. Since the reliability of the tracking result by the tracking sensor 30a is determined by checking whether or not it matches the mobile body information acquired from the mobile body information, the mobile body information converted from the tracking result by the tracking sensor 30a and the specific position sensor 20 The tracking result by the tracking sensor 30a itself can be evaluated by comparing with the moving body information acquired from the tracking sensor 30a. It is possible to determine good.

  In addition, according to the first embodiment, the passage presence / absence information indicating the presence / absence of the moving body that passes the specific position is acquired from the specific position sensor 20, and the tracking result by the tracking sensor 30a is obtained as the presence / absence of the moving body that passes the specific position. And whether the converted passage presence / absence information matches the passage presence / absence information acquired from the specific position sensor 20 to determine the reliability of the tracking result by the tracking sensor 30a. Therefore, the tracking result itself by the specific position sensor 20 can be evaluated by comparing the presence / absence of passing of the moving body converted from the tracking result by the tracking sensor 30a with the presence / absence of passing of the moving body acquired from the specific position sensor 20. The reliability of the tracking result obtained by the tracking sensor 30a can be accurately determined.

  Further, according to the first embodiment, when it is determined that the reliability of the tracking result by the tracking sensor 30a is lower than the predetermined reliability, the tracking sensor 30a should stop the operation of the tracking result. Since the operation stop instruction is transmitted, it is possible to instruct the operation stop of the “tracking result by the tracking sensor 30a” with low reliability, and the highly reliable driving without providing the driver with the tracking result with low reliability. Only the support information can be provided to the driver.

  In the first embodiment described above, the tracking result reliability determination apparatus in the case where one tracking sensor that tracks a moving body that moves in the monitoring range has been described, but in the second embodiment, each moving body is tracked by a different method. A tracking result reliability determination apparatus when a plurality of tracking sensors are installed will be described.

[Outline and Features of Tracking Reliability Judgment Device in Embodiment 2]
First, the main features of the tracking reliability determination apparatus according to the second embodiment will be specifically described with reference to FIG. FIG. 7 is a diagram for explaining the outline and features of the tracking reliability determination apparatus according to the second embodiment.

  In the second embodiment, first, a plurality of tracking sensors that respectively track the moving body by different methods are installed. Specifically, as shown in FIG. 7A, a first tracking sensor (camera) and a second tracking sensor (infrared sensor) are installed as tracking sensors for tracking a moving body moving in the monitoring range ABCD. The

  The first tracking sensor (camera) continuously captures the monitoring range ABCD to acquire image data, and the second tracking sensor (infrared sensor) continuously images the monitoring range ABCD to obtain temperature high / low data. The first mobile tracking device described later acquires the tracking result by the camera based on the continuous image data captured by the first tracking sensor (camera), and the second mobile tracking device described later The tracking result by the infrared sensor is acquired based on the continuous image data including the temperature high and low data imaged by the second tracking sensor (infrared sensor), and these tracking results are transmitted to the tracking reliability determination apparatus in the second embodiment. .

  More specifically, as shown in the middle part of FIG. 7B, in the moving state of the moving object in the “daytime” monitoring range ABCD, the first moving object tracking device to be described later is a continuous image captured by the camera. Based on the data, three vehicles that have entered the monitoring range ABCD are accurately detected, and tracking results are obtained by tracking the vehicles while maintaining the status with the identification numbers “1”, “2” and “3”. This is transmitted to the tracking reliability determination apparatus in the second embodiment. On the other hand, the second moving body tracking device to be described later performs tracking processing based on the continuous image data captured by the infrared sensor. In the moving body moving situation in the monitoring range ABCD shown in the middle part of FIG. The temperature difference between vehicles traveling very close to each other due to the high temperature of “daytime” cannot be detected, and the tracking result by the camera is assigned the vehicle with the identification number “1” and the identification number “2”. Since the vehicle could not be detected separately from the vehicle, an identification number “1” is assigned for tracking. In the tracking result by the camera, the identification number “2” is assigned to the vehicle to which the identification number “3” is assigned, and the tracking result obtained by tracking the vehicles having the identification numbers “1” and “2” is obtained. This is transmitted to the tracking reliability determination apparatus in the second embodiment.

  Similarly, as shown in the middle part of FIG. 7C, the second moving body tracking device to be described later is a continuous image captured by an infrared sensor in the moving state of the monitoring range ABCD at “night”. Based on the data, three vehicles that have entered the monitoring range ABCD are accurately detected, and tracking results are obtained by tracking the vehicles while maintaining the status with the identification numbers “1”, “2” and “3”. This is transmitted to the tracking reliability determination apparatus in the second embodiment. On the other hand, the first mobile tracking device described later performs processing for detecting and tracking a vehicle that has entered the monitoring range ABCD based on continuous image data captured by the camera. In the moving state of the moving body in the monitoring range ABCD shown in FIG. 4, the field of view is dark because it is “nighttime”, and a vehicle traveling very close cannot be detected accurately. Since the detected vehicle and the vehicle to which the identification number “2” is assigned cannot be detected separately, the identification number “1” is assigned for tracking. In the tracking result by the infrared sensor, the identification number “2” is assigned to the vehicle assigned the identification number “3”, and the tracking result obtained by tracking the vehicles having the identification numbers “1” and “2” is acquired. Is transmitted to the tracking reliability determination apparatus according to the second embodiment.

  On the other hand, the tracking reliability determination apparatus according to the second embodiment, as with the tracking reliability determination apparatus according to the first embodiment, obtains a specific position from an ultrasonic sensor that is a specific position sensor that monitors a specific position set in the monitoring range ABCD. The presence / absence information of the moving body that has passed is acquired (see “detection result of specific position sensor” in the upper part of FIG. 7B).

  In addition, the tracking reliability determination apparatus according to the second embodiment converts the tracking result obtained by each tracking sensor into moving body information that is information on a moving body that passes a specific position for each of the plurality of tracking sensors. Specifically, as shown in the lower part of FIG. 7B, the result of converting the tracking result by the first tracking sensor into the presence / absence information of the moving body that has passed the specific position, as shown in the lower part of FIG. Three vehicles are converted into moving body information that has passed a specific position at time t1, time t2, and time t3. Further, as shown in “Result of converting tracking result by second tracking sensor into presence / absence information of moving body passing through specific position” in lower part of FIG. Is converted into the presence / absence information of the moving body that has passed the specific position at time t1 and time t3.

  Similarly, in the case of (C) in FIG. 7, the tracking result by the infrared sensor is used, the tracking result by the second tracking sensor in the lower part of (C) in FIG. As shown in “Results of conversion to”, the three vehicles convert the moving body information that has passed the specific position at time t1, time t2, and time t3. Furthermore, as shown in the result of converting the tracking result by the camera into the presence / absence information of the moving body that passed through the specific position in the lower part of FIG. The vehicle is converted into presence / absence information of a moving body that has passed a specific position at time t1 and time t3.

  Subsequently, the tracking reliability determination apparatus according to the second embodiment checks whether the converted moving body information matches the moving body information acquired from the specific position sensor for each of the plurality of tracking sensors. The reliability of the tracking result by the tracking sensor is determined. Specifically, in the case illustrated in FIG. 7B, “the result of converting the tracking result by the first tracking sensor into the presence / absence information of the moving body that has passed the specific position” and “the detection result of the specific position sensor” ”To determine the reliability of the tracking result of the first tracking sensor,“ the result of converting the tracking result of the second tracking sensor into the presence / absence information of the moving body passing through the specific position ”, and“ the specific position The reliability of the tracking result by the second tracking sensor is determined by collating with the “detection result of the sensor”. In FIG. 7B, in the case of the first tracking sensor, both are completely matched, so the reliability is determined to be 100%, and in the case of the second tracking sensor, two of the three are matched. Therefore, the reliability is determined to be 2/3, that is, 66.7%.

  Similarly, in the case shown in FIG. 7C, “the result of converting the tracking result by the first tracking sensor into the presence / absence information of the moving body that has passed the specific position” and “the detection result of the specific position sensor” And the reliability of the tracking result by the first tracking sensor is determined, and "the result of converting the tracking result by the second tracking sensor into the presence / absence information of the moving body passing through the specific position" and "the specific position sensor The reliability of the tracking result by the second tracking sensor is determined by collating with the “detection result”. In FIG. 7C, in the case of the first tracking sensor, two of the three match, so the reliability is determined to be two thirds, that is, 66.7%. Are completely coincident, so the reliability is determined to be 100%.

  Subsequently, the tracking reliability determination apparatus according to the second embodiment sends an operation stop instruction to stop the operation of the tracking result to a tracking sensor other than the tracking sensor having the best reliability. Specifically, in the case shown in FIG. 7B, the reliability of the first tracking sensor is 100%, whereas the reliability of the second tracking sensor is 66.7%. The operation of the tracking result by the tracking sensor is continued, and it is instructed to stop the operation of the tracking result by the second tracking sensor, so that the driver is not provided with information on the second tracking sensor with low reliability. In the case shown in FIG. 7C, the reliability of the second tracking sensor is 100%, whereas the reliability of the first tracking sensor is 66.7%. The operation of the tracking result is continued, and the instruction to stop the operation of the tracking result by the first tracking sensor is issued, so that the driver is provided with information on the first tracking sensor with low reliability.

  For this reason, the tracking reliability determination apparatus according to the second embodiment can provide the driver with the tracking result of the tracking sensor determined to have the best reliability from the plurality of tracking sensors. Only highly reliable driving support information can be provided to the driver.

[Configuration of Tracking Reliability Judgment Device in Embodiment 2]
Next, the tracking reliability determination apparatus according to the second embodiment will be described with reference to FIG. FIG. 8 is a block diagram illustrating the configuration of the tracking reliability determination apparatus according to the second embodiment. As shown in the figure, the tracking reliability determination device 10 according to the second embodiment has the same configuration as the tracking reliability determination device 10 according to the first embodiment, and further includes a specific position sensor 20 and a first mobile body tracking device. 300 and the second mobile body tracking device 31.

  The specific position sensor 20, the tracking reliability determination request input unit 11, the tracking reliability determination output unit 12, the input / output control I / F unit 13, the mobile body information acquisition unit 15a, and the mobile body information acquisition result The storage unit 16a includes the specific position sensor 20, the tracking reliability determination request input unit 11, the tracking reliability determination output unit 12, the input / output control I / F unit 13, and the moving body information in the first embodiment. Since the same processing as that of the acquisition unit 15a and the mobile object information acquisition result storage unit 16a is performed, description thereof will be omitted.

  The first mobile tracking device 300 includes a first tracking sensor 300a and a first tracking sensor tracking result transmission unit 300b. The first tracking sensor 300a is a camera that captures an image of a monitoring range and acquires an image, and the first tracking sensor tracking result sending unit 300b is a tracking result that is a result of analyzing data acquired by the first tracking sensor 300a. Is transmitted to the tracking sensor tracking result receiving unit 14a described later. Specifically, as shown in FIG. 7A, the first tracking sensor 300a continuously images the monitoring range ABCD (for example, every 1/100 second), and the first moving body tracking device 300 is captured. Based on this data, the three vehicles that have entered the monitoring range ABCD are accurately detected in the moving state of the monitoring range ABCD in the “daytime” shown in the middle of FIG. The tracking results obtained by tracking the vehicle while maintaining the state to which “1”, “2”, and “3” are assigned are acquired and transmitted to the tracking sensor tracking result receiving unit 14a. In the moving state of the moving object in the “night” monitoring range ABCD shown in the middle part of FIG. 7C, the first moving body tracking device 300 performs the tracking process based on the data acquired by the first tracking sensor 300a. However, since it is “nighttime”, the field of view is dark and the vehicle traveling very closely cannot be detected accurately, and the vehicle assigned the identification number “1” shown in the middle row of FIG. Since the vehicle with the identification number “2” cannot be distinguished from the vehicle and detected as one vehicle, the tracking result obtained by tracking the two vehicles is acquired and transmitted to the tracking reliability determination device according to the second embodiment. ing.

  The second mobile body tracking device 31 includes a second tracking sensor 31a and a second tracking sensor tracking result transmission unit 31b. The second tracking sensor 31a is an infrared sensor that captures an image of the monitoring range and acquires an image including high and low temperature data. The second tracking sensor tracking result transmission unit 31b uses the data acquired by the second tracking sensor 31a. The tracking result that is the analysis result is transmitted to the tracking sensor tracking result receiving unit 14a described later. Specifically, as shown in FIG. 7A, the second tracking sensor 31a continuously images the monitoring range ABCD (for example, every 1/100 second), and the second moving body tracking device 31 performs a process of detecting and tracking a vehicle that has entered the monitoring range ABCD based on this data in the moving state of the monitoring range ABCD in the “daytime” shown in the middle of FIG. 7B. The temperature difference between vehicles traveling very close to each other due to the high temperature of “daytime” cannot be detected, and the vehicle with the identification number “1” shown in the middle part of FIG. Since the vehicle to which “2” is assigned cannot be distinguished from one another and is detected as one vehicle, the tracking result obtained by tracking the two vehicles is acquired and transmitted to the tracking sensor tracking result receiving unit 14a. Further, as shown in the middle part of FIG. 7C, the second mobile tracking device 31 accurately identifies the three vehicles that have entered the monitoring range ABCD based on the data acquired by the second tracking sensor 31a. The tracking result obtained by detecting and tracking the vehicle while maintaining the state given the identification numbers “1”, “2” and “3” is acquired and transmitted to the tracking sensor tracking result receiving unit 14a.

  The tracking results by the first tracking sensor 300a and the second tracking sensor 31a transmitted from the first tracking sensor tracking result transmitting unit 300b and the second tracking sensor tracking result transmitting unit 31b to the tracking sensor tracking result receiving unit 14a are: The tracking result by the 1st tracking sensor 300a and the 2nd tracking sensor 31a for every 1/100 second which processed the image data imaged every 1/100 second may be sufficient, and every 1/100 second Among the tracking results obtained by processing the image data picked up in the first, tracking results by the first tracking sensor 300a and the second tracking sensor 31a every 1/10 second may be used, for example.

  The receiving unit 14 includes a tracking sensor tracking result receiving unit 14a. Based on the tracking reliability request transferred from the input / output control I / F unit 13, the tracking sensor tracking result receiving unit 14a receives from the first tracking sensor tracking result transmitting unit 300b and the second tracking sensor tracking result transmitting unit 31b. The tracking result by the first tracking sensor 300a and the tracking result by the second tracking sensor 31a are received separately, and these tracking results are transferred to the mobile body information conversion unit 15b described later.

  The moving body information conversion unit 15b uses the tracking result by the first tracking sensor 300a and the tracking result by the second tracking sensor 31a as the information that can be collated with the moving body information acquired by the specific position sensor 20, and sets the specific position. Each is converted into mobile body information that is information of the mobile body that passes through, and the result is stored in the mobile body information conversion result storage unit 16b. Specifically, as shown in FIG. 7A, the mobile object information conversion unit 15b passes the tracking result by the first tracking sensor 300a and the tracking result by the second tracking sensor 31a through a specific position. Each of them is converted into the presence / absence information of a moving object. More specifically, as shown in the lower part of FIGS. 7B and 7C, a graph in which presence / absence information of a vehicle that has passed a specific position is plotted along the time axis is “tracking by first tracking sensor”. A result obtained by converting the result into the presence / absence information of the moving body passing through the specific position and a result obtained by converting the tracking result by the second tracking sensor into the presence / absence information of the moving body passing through the specific position are obtained.

  Then, the mobile body information conversion unit 15b stores the two pieces of converted mobile body information in the mobile body information conversion result storage unit 16b. The mobile body information conversion unit 15b may process all the tracking results every 1/100 second received by the tracking sensor tracking result receiving unit 14a, and among the received tracking results, for example, 10 minutes The tracking results per second may be processed individually.

  The tracking reliability determination unit 15c collates whether or not the two pieces of converted moving body information match the moving body information acquired by the specific position sensor 20, and trusts the tracking result by the first tracking sensor 300a. And the reliability of the tracking result by the second tracking sensor 31a are determined, and the result is stored in the tracking reliability determination result storage unit 16c. Specifically, in (B) of FIG. 7, in the case of the first tracking sensor 300a, both are completely matched, so the reliability is determined to be 100%, and in the case of the second tracking sensor 31a, Since two of the three coincide, the reliability is determined to be two thirds, that is, 66.7%. Further, in FIG. 7C, in the case of the first tracking sensor 300a, since two of the three match, the reliability is determined to be two thirds, that is, 66.7%, and the second tracking sensor 300a. In the case of the sensor 31a, since the two match completely, the reliability is determined to be 100%.

  Then, the tracking reliability determination unit 15c stores the reliability of the tracking result obtained by the first tracking sensor 300a and the reliability of the tracking result obtained by the second tracking sensor 31a in the tracking reliability determination result storage unit 16c. Store.

  The tracking operation stop instruction sending unit 15d compares the reliability of the tracking result by the first tracking sensor 300a with the reliability of the tracking result by the second tracking sensor 31a, and tracks other than the tracking sensor with the best reliability. An operation stop instruction indicating that the operation of the tracking result should be stopped is sent to the sensor. Specifically, in the case shown in FIG. 7B, the reliability of the first tracking sensor 300a is 100%, whereas the reliability of the second tracking sensor 31a is 66.7%. The operation of the tracking result by the first tracking sensor 300a is continued, an instruction to stop the operation of the tracking result by the second tracking sensor 31a is given, and the driver is provided with information on the second tracking sensor 31a with low reliability. To avoid. In the case shown in FIG. 7C, the reliability of the second tracking sensor 31a is 100%, whereas the reliability of the first tracking sensor 300a is 66.7%. The operation of the tracking result by the sensor 31a is continued, and it is instructed to stop the operation of the tracking result by the first tracking sensor 300a, thereby preventing the driver from being provided with information on the first tracking sensor 300a with low reliability. .

  For this reason, the tracking reliability determination apparatus according to the second embodiment can provide the driver with the tracking result of the tracking sensor determined to have the best reliability from the plurality of tracking sensors. Only highly reliable driving support information can be provided to the driver.

[Procedure for Processing by Tracking Reliability Determination Apparatus in Embodiment 2]
Next, processing performed by the tracking reliability determination apparatus 10 according to the second embodiment will be described with reference to FIG. FIG. 9 is a flowchart illustrating a processing procedure of the tracking reliability determination apparatus according to the second embodiment.

  First, the tracking reliability determination apparatus 10 according to the second embodiment receives a new tracking reliability determination request from a keyboard or a mouse, or automatically (for example, every 3 hours) generates a tracking reliability determination request (Step 3). In the same manner as in the first embodiment (similar to steps S602 to S603 shown in FIG. 6), “initialization process” and “start acquisition of moving body information from the specific position sensor 20” are performed (step S902). Step S903).

  Subsequently, the mobile body information conversion unit 15b uses the tracking result by the first tracking sensor 300a and the tracking result by the second tracking sensor 31a as information that can be collated with the mobile body information acquired by the specific position sensor 20. A process of converting each of the information into moving body information that is information on the moving body that passes through the specific position is started (step S904). That is, the tracking result by the first tracking sensor 300a and the tracking result by the second tracking sensor 31a are received from the tracking sensor tracking result receiving unit 14a, and the presence / absence information of the moving body that has passed the specific position is converted from the tracking result. Start processing.

  Thereafter, the mobile body information acquisition unit 15a and the mobile body information conversion unit 15b determine whether or not a predetermined time (for example, 2 minutes) has elapsed from the tracking reliability determination request (step S905). Here, when the predetermined time has not elapsed (No at Step S905), the mobile body information acquisition unit 15a and the mobile body information conversion unit 15b continue processing.

  On the other hand, when the predetermined time has elapsed since the tracking reliability determination request (Yes in step S905), the mobile body information acquisition unit 15a and the mobile body information conversion unit 15b stop the processing and respond accordingly The tracking reliability determination unit 15c collates whether or not the converted mobile body information matches the mobile body information acquired by the specific position sensor, and determines the reliability of each tracking result (step) S906). That is, the “detection result of the specific position sensor” and the “result of converting the tracking result of the tracking sensor into the presence / absence information of the moving body that has passed the specific position” for each tracking sensor are collated, respectively ( In B), since the first tracking sensor 300a is completely coincident with each other, it is determined that the reliability is 100%. For the second tracking sensor 31a, the reliability is two thirds, that is, 66. Judge 7%. 7C, the reliability of the first tracking sensor 300a is determined to be two-thirds, that is, 66.7%, and the reliability of the second tracking sensor 31a is determined to be 100%. To do.

  Then, the tracking operation stop instruction sending unit 15d compares the reliability stored in the tracking reliability determination result storage unit 16c with each other, and with respect to a tracking sensor other than the tracking sensor having the best reliability, An operation stop instruction indicating that the operation should be stopped is transmitted (step S907), and the process is terminated. That is, in the case shown in FIG. 7B, since the reliability of the first tracking sensor 300a is 100%, the reliability of the second tracking sensor 31a is 66.7%. The operation of the tracking result by the sensor 300a is continued, and it is instructed to stop the operation of the tracking result by the second tracking sensor 31a, so that the driver is not provided with information on the second tracking sensor 31a with low reliability. . In the case shown in FIG. 7C, the reliability of the second tracking sensor 31a is 100%, whereas the reliability of the first tracking sensor 300a is 66.7%. The operation of the tracking result by the sensor 31a is continued, and it is instructed to stop the operation of the tracking result by the first tracking sensor 300a, thereby preventing the driver from being provided with information on the first tracking sensor 300a with low reliability. .

[Effect of Example 2]
As described above, according to the second embodiment, the tracking result by the first tracking sensor 300a and the tracking result by the second tracking sensor 31a are converted into moving body information that is information on the moving body that passes through the specific position. For each of the first tracking sensor 300a and the second tracking sensor 31a, the first tracking sensor 300a and the second tracking sensor 31a are collated to check whether or not the converted moving body information matches the moving body information acquired by the specific position sensor 20. The reliability of the tracking results obtained by the second tracking sensor 31a is determined, the reliability of the determined tracking results is compared with each other, and the tracking results other than the tracking sensor with the best reliability are stored in the tracking results. Since the operation stop instruction indicating that the operation should be stopped is sent, the tracking result of the tracking sensor determined to have the best reliability from the plurality of tracking sensors should be provided to the driver. Can, it is possible to provide only a highly reliable driving support information to the driver.

  In the above-described first embodiment, the case where one specific position is set in the monitoring range and one specific position sensor for monitoring the specific position is installed has been described. In the third embodiment, a plurality of specific positions are set in the monitoring range. A tracking result reliability determination apparatus in the case where a plurality of specific position sensors for setting a position and monitoring a plurality of specific positions are installed will be described.

[Outline and Features of Tracking Reliability Judgment Device in Embodiment 3]
Next, the main features of the tracking reliability determination apparatus according to the third embodiment will be specifically described with reference to FIG. FIG. 10 is a diagram for explaining the outline and features of the tracking reliability determination apparatus according to the third embodiment.

  In the third embodiment, first, similarly to the first embodiment, the camera installed as the tracking sensor continuously captures the monitoring range, and the mobile tracking device obtains the tracking result based on the captured continuous image data. This is acquired and transmitted to the tracking reliability determination apparatus in the third embodiment.

  Specifically, as shown in FIG. 10A, a camera installed as a tracking sensor in the monitoring range ABCD continuously captures the monitoring range ABCD to acquire image data. Tracking results are acquired based on the captured continuous image data, and these tracking results are transmitted to the tracking reliability determination apparatus according to the third embodiment. More specifically, the moving body tracking device is configured to perform the time t4 in the moving body moving situation in the monitoring range ABCD shown in FIG. 10B, even though three vehicles are actually traveling on the road. Until then, the three vehicles traveling very closely could not be detected separately, and therefore, the vehicle was tracked as one vehicle to which the identification number “1” was assigned. Since the inter-vehicle distance with the second vehicle has increased, the third vehicle is newly detected and tracked as one vehicle with the identification number “2”. Further, at time t6, since the inter-vehicle distance between the first vehicle and the second vehicle has increased, the second vehicle is newly detected and one vehicle to which the identification number “3” is assigned is provided. To track as. The mobile tracking device transmits these tracking results to the tracking reliability determination device in the third embodiment.

  On the other hand, as shown in FIG. 10A, the tracking reliability determination apparatus according to the third embodiment includes a specific position 1, a specific position 2, and a specific position set on the same lane in order of distance from the camera in the monitoring range ABCD. 3, a first specific position sensor, a second specific position sensor, and a third specific position sensor, each of which is an ultrasonic sensor for monitoring each of the three, and the specific position sensor get. Specifically, in the moving body moving situation in the monitoring range ABCD shown in FIG. 10B, the first specific position sensor, the second specific position sensor, and the third specific position sensor are more than each specific position. Reflection data that can determine whether or not there is a moving body that has passed through the specific position 1, the specific position 2, and the specific position 3 is obtained by emitting a sound wave. That is, in the movement situation of three vehicles that have entered the monitoring range ABCD shown in FIG. 10B, the first specific position sensor has three vehicles that have reached the specific position 1 at times t1, t2, and t3, respectively. Is detected accurately (see “Detection result of first specific position sensor” in FIG. 10C), and the second specific position sensors are three units that have reached specific position 2 at times t4, t5, and t6, respectively. (See “detection result of second specific position sensor” in FIG. 10D), the third specific position sensor has reached specific position 3 at times t6, t7, and t8, respectively. Three vehicles are accurately detected (see “detection result of third specific position sensor” in FIG. 10E).

  In addition, the tracking reliability determination apparatus according to the third embodiment includes a tracking sensor as information that can be collated with each moving body information acquired by the first specific position sensor, the second specific position sensor, and the third specific position sensor. The tracking result is converted into each moving body information that is information of a moving body that passes through the specific position 1, the specific position 2, and the specific position 3. Specifically, the tracking result by the tracking sensor described above is received, and the tracking result is converted into the presence / absence information of the moving body that has passed the specific position 1, the specific position 2, and the specific position 3. More specifically, as shown in (C), (D), and (E) of FIG. 10, the specific position 1 and the specific position are obtained from the tracking result of the moving object assigned the identification number by the tracking reliability determination device. 2 is a graph in which presence / absence information of a vehicle that has passed the specific position is converted into presence / absence information of a mobile body that has passed through the specific position 3 and plotted along the time axis. Result of conversion to presence / absence information of mobile object that passed through "," Result of conversion of tracking result by tracking sensor to presence / absence information of mobile object that passed specified position 2 ", and" Result of conversion by tracking sensor specified The result of conversion into the presence / absence information of the moving body that has passed the position 3 ”is obtained. Here, one vehicle with the identification number “1” is assigned the specific position 1, two vehicles with the identification numbers “1” and “2” are assigned the specific position 2, the identification number “1”, The information is converted into information that three vehicles to which “2” and “3” are assigned have passed the specific position 3.

  Subsequently, in the tracking reliability determination apparatus according to the third embodiment, whether the moving body information for each specific position acquired by the specific position sensor matches the moving body information for each specific position converted from the tracking result by the tracking sensor. The reliability for every specific position of the tracking result by the tracking sensor is determined. Specifically, as shown in (C), (D), and (E) of FIG. 10, “the detection result of the specific position sensor 1” and “the tracking result of the tracking sensor are moved through the specific position 1”. The reliability of the specific position 1 is determined by comparing the result converted to the presence / absence information of the body, and the “detection result of the specific position sensor 2” and “the tracking result by the tracking sensor are moved through the specific position 2”. The reliability of the specific position 2 is determined by comparing the result converted to the presence / absence information of the body, and the “detection result of the specific position sensor 3” and “the tracking result by the tracking sensor are moved through the specific position 3” The reliability of the specific position 3 is determined by comparing with the “result converted into the presence / absence information of the body”. As shown in FIG. 10C, the reliability of the specific position 1 is one of three, so it is determined to be one third, that is, 33.3%, and FIG. As shown in FIG. 10, since the reliability of the specific position 2 matches two of the three, it is determined to be two-thirds, that is, 66.7%, and as shown in FIG. 3 is determined to be 100% because the two are completely coincident.

  Subsequently, the tracking reliability determination apparatus according to the third exemplary embodiment applies a tracking sensor to the tracking sensor when it is determined that the reliability of a specific position is lower than a predetermined reliability among the reliability of a plurality of specific positions. Thus, an operation stop instruction is sent to the effect that the operation of the tracking results in the range behind the specific position in the monitoring range should be stopped. Specifically, if 60% is set as the predetermined reliability (reliability setting threshold), the reliability of the specific position 2 and the specific position 3 as shown in (D) and (E) of FIG. 66.7% and 100%, which are higher than 60%, as shown in FIG. 10C, the reliability of the specific position 1 is 33.3%, which is lower than 60%. An instruction to stop the operation of the tracking results in the rear range is given, and it is avoided that information with low reliability is provided to the driver.

  For this reason, the tracking reliability determination apparatus according to the third embodiment can avoid providing the driver with a tracking result in a low reliability range among the tracking results of the tracking sensor. Only high driving support information can be provided to the driver.

[Configuration of Tracking Reliability Judgment Device in Embodiment 3]
Next, the tracking reliability determination apparatus according to the third embodiment will be described with reference to FIG. FIG. 11 is a block diagram illustrating the configuration of the tracking reliability determination apparatus according to the third embodiment. As shown in the figure, the tracking reliability determination device 10 according to the third embodiment has the same configuration as the tracking reliability determination device 10 according to the first embodiment, and further includes a first specific position sensor 200, a second specific position, and the like. The sensor 21, the third specific position sensor 22, and the moving body tracking device 30 are connected.

  The tracking reliability determination request input unit 11, the tracking reliability determination output unit 12, the input / output control I / F unit 13, and the tracking sensor tracking result reception unit 14 a are respectively the tracking reliability in the first embodiment. Since the processing is the same as that of the determination request input unit 11, the tracking reliability determination output unit 12, the input / output control I / F unit 13, and the tracking sensor tracking result receiving unit 14a, the description thereof is omitted.

  Similar to the mobile body tracking device 30 in the first embodiment, the mobile body tracking device 30 includes a tracking sensor 30a and a tracking sensor tracking result transmission unit 30b. The tracking sensor 30a is a camera that captures an image of a monitoring range and acquires an image, and the tracking sensor tracking result transmission unit 30b displays a tracking result that is a result of analyzing data acquired by the tracking sensor 30a as a tracking sensor tracking result. Transmit to the receiver 14a.

  Specifically, the moving body tracking device 30 determines that the time t4 in the moving body moving situation in the monitoring range ABCD shown in FIG. 10B, even though three vehicles are actually traveling on the road. Until then, the three vehicles traveling very closely could not be detected separately, and therefore, the vehicle was tracked as one vehicle to which the identification number “1” was assigned. Since the inter-vehicle distance with the second vehicle has increased, the third vehicle is newly detected and tracked as one vehicle to which the identification number “2” is assigned. Since the inter-vehicle distance between the first vehicle and the second vehicle has increased, the second vehicle is newly detected and the tracking result is tracked as a single vehicle with the identification number “3”. It transmits to the result receiving part 14a.

  The first specific position sensor 200, the second specific position sensor 21, and the third specific position sensor 22 are ultrasonic sensors that monitor the specific position 1, the specific position 2, and the specific position 3, respectively. The mobile body information for each specific position is acquired, and the mobile body information for each specific position is transferred to the mobile body information acquisition unit 15a described later. Specifically, as shown in FIG. 10 (A), the first specific that monitors the specific position 1, the specific position 2, and the specific position 3 set on the same lane in order from the distance of the monitoring range ABCD. The position sensor 200, the second specific position sensor 21, and the third specific position sensor 22 radiate ultrasonic waves to each specific position in the moving body moving state in the monitoring range ABCD shown in FIG. Thus, reflection data that can determine whether or not there is a moving body that has passed through the specific position 1, the specific position 2, and the specific position 3 is acquired. For example, in the movement situation of three vehicles that entered the monitoring range ABCD shown in FIG. 10B, the first specific position sensor 200 has three units that have reached the specific position 1 at times t1, t2, and t3, respectively. The vehicle is accurately detected (see “detection result of first specific position sensor” in FIG. 10C).

  The moving body information acquisition unit 15a moves from the first specific position sensor 200 that monitors a plurality of specific positions in the monitoring range, the second specific position sensor 21, and the third specific position sensor 22 through each specific position. The mobile body information which is body information is acquired, and the result is stored in the mobile body information acquisition result storage unit 16a described later. Specifically, the moving body information acquisition unit 15a performs the first specific position sensor 200, the second specific position sensor 21, and the third specific position in the moving body movement state in the monitoring range ABCD shown in FIG. Ultrasonic waves are radiated from the position sensor 22 to each specific position, and the “detection result of the first specific position sensor” shown in FIG. 10C and the “second specific position” shown in FIG. The “sensor detection result” and the “third specific position sensor detection result” shown in FIG. 10E are acquired.

  The tracking reliability determination unit 15c converts the moving body information for each specific position acquired from the first specific position sensor 200, the second specific position sensor 21, and the third specific position sensor 22 from the tracking result by the tracking sensor. It is checked whether or not the mobile body information for each specific position matches, and the reliability for each specific position of the tracking result by the tracking sensor 30a is determined. Specifically, as shown in (C), (D), and (E) of FIG. 10, “the detection result of the first specific position sensor” and “the tracking result by the tracking sensor passed through the specific position 1. The reliability of the specific position 1 is determined to be 33.3% by comparing with the “result converted to the presence / absence information of the moving object”, and the “detection result of the second specific position sensor” and “the tracking result by the tracking sensor are , The result of the conversion to the presence / absence information of the moving body that has passed the specific position 2 ”, the reliability of the specific position 2 is determined to be 66.7%,“ the detection result of the third specific position sensor ”, The reliability of the specific position 3 is determined to be 100% by collating with the “result of converting the tracking result of the tracking sensor into the presence / absence information of the moving body that has passed the specific position 3”.

  When it is determined that the reliability of a specific position is lower than a predetermined reliability among the reliability of a plurality of specific positions, the tracking operation stop instruction sending unit 15d In particular, an operation stop instruction is sent to the effect that the operation of the tracking results in the range behind the specific position should be stopped. Specifically, if 60% is set as the predetermined reliability (reliability setting threshold), the reliability of the specific position 2 and the specific position 3 as shown in (D) and (E) of FIG. 66.7% and 100%, which are higher than 60%, as shown in FIG. 10C, the reliability of the specific position 1 is 33.3%, which is lower than 60%. An instruction to stop the operation of the tracking results in the rear range is given, and it is avoided that information with low reliability is provided to the driver.

[Procedure for Processing by Tracking Reliability Determination Device in Embodiment 3]
Next, processing performed by the tracking reliability determination apparatus 10 according to the third embodiment will be described with reference to FIG. FIG. 12 is a flowchart illustrating a processing procedure of the tracking reliability determination apparatus according to the third embodiment.

  First, when the tracking reliability determination apparatus 10 in the third embodiment receives a new tracking reliability determination request from the keyboard or mouse (Yes in step S1201), the same as in the first embodiment (same as step S602 shown in FIG. 6). In addition, an “initialization process” is performed (step S1202).

  Then, the mobile body information acquisition unit 15a obtains each specific position from the first specific position sensor 200, the second specific position sensor 21, and the third specific position sensor 22 that monitor the three specific positions in the monitoring range. A process of acquiring mobile body information, which is information of a mobile body that passes through, is started (step S1203). That is, as shown in FIG. 10A, the first specific position sensor 200, which is an ultrasonic sensor that monitors the specific position 1, the specific position 2, and the specific position 3, respectively, and the second specific position sensor 21 The process of acquiring the presence / absence information of the moving body that has passed each specific position is started from the third specific position sensor 22.

  Subsequently, the mobile body information conversion unit 15b starts “mobile body information conversion from the tracking result by the tracking sensor” in the same manner as in the first embodiment (same as step S604 illustrated in FIG. 6) (step S1204). That is, the process of acquiring the presence / absence information of the moving body that has passed the specific position 1, the specific position 2, and the specific position 3 from the tracking result by the tracking sensor 30a is started.

  Thereafter, the mobile object information acquisition unit 15a and the mobile object information conversion unit 15b determine whether or not a predetermined time (for example, 2 minutes) has elapsed from the tracking reliability determination request (step S1205). Here, when the predetermined time has not elapsed (No at Step S1205), the moving body information acquisition unit 15a and the moving body information conversion unit 15b continue the processing.

  On the other hand, when a predetermined time has elapsed from the tracking reliability determination request (Yes in step S1205), the mobile body information acquisition unit 15a and the mobile body information conversion unit 15b stop the processing, and accordingly The tracking reliability determination unit 15c uses the first specific position sensor 200, the second specific position sensor 21, and the third specific position sensor 22 to obtain the converted moving body information for each specific position. Whether the information matches the moving body information is checked, and the reliability of the tracking result by the tracking sensor is determined (step S1206).

  Then, the tracking operation stop instruction sending unit 15d has a predetermined reliability (for example, a reliability setting threshold value of 60) as the reliability for each specific position of the tracking result by the tracking sensor 30a stored in the tracking reliability determination result storage unit 16c. %) Is determined (step S1207). Here, if it is determined that the reliability of the tracking results at all the specific positions is a value equal to or higher than the reliability setting threshold value (No in step S1207), no operation stop instruction is issued to the tracking sensor 30a, and the tracking is performed. The result operation continues and the process ends. On the other hand, when it is determined that there is a “tracking result of a specific position” lower than the reliability setting threshold (Yes in step S1207), the tracking sensor 30a is less reliable than the reliability setting threshold. An operation stop instruction is sent to the effect that the operation of the tracking results in the range behind the specified position should be stopped. An operation stop instruction indicating that the operation of the tracking result should be stopped is transmitted (step S1208), and the processing is ended (see (C) of FIG. 10).

[Effect of Example 3]
As described above, according to the third embodiment, the reliability of the tracking result by the tracking sensor 30a is determined for each specific position set in the monitoring range, and the range behind the specific position determined to be lower than the predetermined reliability. Since the operation stop instruction indicating that the operation of the tracking result by the tracking sensor 30a in the vehicle should be stopped is sent, it is possible to avoid providing the driver with a tracking result in a low reliability range, and driving with high reliability. Only the support information can be provided to the driver.

  In the fourth embodiment, a predetermined area is shared and monitored by a plurality of first tracking sensors for each monitoring range, and the reliability of a tracking result obtained by tracking a moving body moving in the area is determined. A tracking reliability determination apparatus will be described.

[Outline and Features of Tracking Reliability Judgment Device in Embodiment 4]
First, the main features of the tracking reliability determination apparatus according to the fourth embodiment will be specifically described with reference to FIG. FIG. 13 is a diagram for explaining the outline and features of the tracking reliability determination apparatus according to the fourth embodiment.

  The tracking reliability determination apparatus according to the fourth exemplary embodiment obtains a tracking result obtained by tracking a predetermined area and monitoring a moving body that moves within the area by sharing and monitoring a predetermined area by a plurality of first tracking sensors for each monitoring range. The main feature is that the reliability of the tracking result by the first tracking sensor can be accurately determined.

  Briefly explaining this main feature, a plurality of cameras installed as “first tracking sensors” for monitoring a predetermined area by sharing it for each monitoring range continuously images each monitoring range, The tracking device acquires a tracking result of a predetermined area from the tracking result for each monitoring range based on the captured continuous image data, and has a high reliability of the “tracking result by the first tracking sensor” in the monitoring range. The tracking result of the monitoring range where the degree is required is transmitted to the tracking reliability determination apparatus according to the fourth embodiment. Specifically, as shown in FIG. 13A, three first tracking sensors installed to monitor a predetermined area divided into range 1, range 2, and range 3 are used. A certain camera continuously captures each of the range 1 to the range 3, and the mobile tracking device detects the tracking result of the range 1, the tracking result of the range 2, and the tracking of the range 3 based on the captured continuous image data. A tracking result of a predetermined area is acquired from the tracking result. And since there is a pedestrian crossing where pedestrians pass in the monitoring range, the range 1 (point A on the road, B, a point C, and a tracking result in a range surrounded by the point D) are transmitted to the tracking reliability determination apparatus according to the fourth embodiment.

  More specifically, in the moving body moving situation in range 1 shown in FIG. 13B, the moving body tracking device detects a moving body passing through range 1 based on the continuous image data, and at time t1. Two vehicles and pedestrians walking on a pedestrian crossing are detected, and tracking results obtained by assigning identification numbers “1”, “2”, and “3”, respectively, are tracked. A pedestrian walking is detected, given an identification number “4”, and a tracking result obtained by tracking the moving bodies having these identification numbers “1” to “4” is acquired. At time t3, since no new moving body is detected, a tracking result obtained by tracking the moving bodies having the identification numbers “1” to “4” as they are is acquired, and this is used as the tracking reliability determination device according to the fourth embodiment. Is sending to. In addition, the accurate moving body moving situation of the range 1 is as shown in FIG. 13C, and the moving body tracking device uses two vehicles that run close to each other due to poor visibility at night. The vehicle is tracked as one vehicle to which the identification number “1” is assigned, and the pedestrian who has entered the pedestrian crossing at time t3 cannot be detected as a moving body and is not tracked.

  On the other hand, the tracking reliability determination apparatus according to the fourth embodiment is configured to track the moving object from the “second tracking sensor” that tracks the moving object moving within the range 1 with higher accuracy than the “first tracking sensor”. To get. Specifically, as shown in FIG. 13A, since a pedestrian crossing where pedestrians pass is installed in the monitoring range, a range in which high reliability of “tracking result by camera” is particularly required. An infrared sensor, which is a “second tracking sensor” that separately monitors 1, is installed, and a tracking result within the range 1 is acquired from image data including high and low temperature data obtained by continuously imaging the range 1.

  More specifically, in the moving body moving state of range 1 shown in (C) of FIG. 13, range 1 is set based on continuous image data including high and low temperature data captured by an infrared sensor that monitors range 1. Detecting moving bodies, detecting three vehicles and pedestrians walking on a pedestrian crossing at time t1, and identifying the vehicles with identification numbers “1”, “2” and “4” Detects a pedestrian who is walking on a pedestrian crossing at time t2, and gives an identification number “5” to the tracking result tracked with the identification number “3”. A tracking result obtained by tracking the moving object “5” is acquired, and a pedestrian newly walking on the pedestrian crossing is detected at time t3, and an identification number “6” is assigned, and these identification numbers “1” to “1” are added. The tracking result obtained by tracking the moving object 6 ”is acquired.

  Subsequently, the tracking reliability determination apparatus according to the fourth embodiment determines whether or not the tracking result by the camera that is the first tracking sensor that monitors the range 1 matches the tracking result by the infrared sensor that is the second tracking sensor. The reliability of the tracking result by a plurality of cameras including the camera that monitors the range 1 is determined by collation. Specifically, the tracking result by the camera that monitors the range 1 shown in FIG. 13B and the tracking result by the infrared sensor that monitors the range 1 shown in FIG. The reliability of the tracking result by three cameras including the camera that monitors the camera is determined. More specifically, as shown in FIG. 13D, the “reliability of the tracking result by the camera” at the time t1 is detected by the camera while the three moving objects are detected and tracked. Since the sensor detects and tracks four moving bodies, it is determined to be 3/4, that is, 75.0%. Then, regarding the “reliability of the tracking result by the camera” at time t2, the camera detects four moving bodies, whereas the infrared sensor detects and tracks five moving bodies. It is determined to be 4 / minute, that is, 80.0%. In addition, since the camera detects and tracks the four moving objects, the infrared sensor detects and tracks the six moving objects at the time t3. 4/6, that is, 66.7%.

  Subsequently, the tracking reliability determination apparatus according to the fourth embodiment determines that the range 1 is determined when it is determined that the reliability of the tracking result by the camera that is the first tracking sensor that monitors the range 1 is lower than the predetermined reliability. An operation stop instruction indicating that the tracking result operation should be stopped is sent to a plurality of cameras including a camera that monitors the above. Specifically, as shown in FIG. 13D, when the predetermined reliability (reliability setting threshold) is 70%, the reliability is 75.0% and 80% at time t1 and time t2, respectively. Therefore, the operation stop instruction is not issued, and the operation of the tracking result is continued. On the other hand, at time t3, the reliability is lower than 66.7% and 70%, so that the camera monitoring range 1 and the cameras monitoring range 2 and range 3 that are close to range 1 respectively. Therefore, it is avoided that the operation stop instruction of the tracking result is issued from time t3 and information with low reliability is provided to the driver.

[Configuration of Tracking Reliability Judgment Device in Embodiment 4]
Next, a tracking reliability determination apparatus according to the fourth embodiment will be described with reference to FIG. FIG. 14 is a block diagram illustrating the configuration of the tracking reliability determination apparatus according to the fourth embodiment.

  The mobile tracking device 60 includes a first tracking sensor (for range 1) 60a1, a first tracking sensor (for range 2) 60a2, a first tracking sensor (for range 3) 60a3, and a first tracking sensor tracking result transmission. Part 60b. The first tracking sensor (for range 1) 60a1, the first tracking sensor (for range 2) 60a2, and the first tracking sensor (for range 3) 60a3 have predetermined areas as range 1, range 2, and range. 3, the first tracking sensors installed to monitor the three and the first tracking sensor tracking result transmission unit 60b analyzes the data acquired by the first tracking sensor (for range 1) 60a1 The tracking result which is the result is transmitted to the first tracking sensor tracking result receiving unit 44a described later. Specifically, as shown in FIG. 13A, a first tracking sensor (for range 1) 60a1, a first tracking sensor (for range 2) 60a2, and a first tracking sensor (range 3) are cameras. 60a3 continuously images each of range 1, range 2, and range 3, and the mobile tracking device 60 uses the range 1 tracking result and the range 2 based on the captured continuous image data. And a tracking result of a predetermined area including the tracking result of the range 3 is acquired. Then, in response to the reliability determination request, the first tracking sensor tracking result transmission unit 60b analyzes the data acquired by the tracking result (the first tracking sensor (for range 1) 60a1 in range 1 where high reliability is required. The tracking result) is transmitted to the first tracking sensor tracking result receiving unit 44a described later.

  More specifically, in the mobile body situation shown in FIG. 13B, the mobile body tracking device 60 uses the continuous image data (for example, 1/100 second) captured by the first tracking sensor (for range 1) 60a1. On the basis of the continuous image data for each), and at time t1, two vehicles and pedestrians walking on a pedestrian crossing are detected, and identification numbers “1” and “1” are detected. The tracking result tracked with 2 ”and“ 3 ”is acquired. Subsequently, at time t2, a pedestrian newly walking on the pedestrian crossing is detected, assigned with an identification number “4”, and tracking results obtained by tracking the moving bodies with these identification numbers “1” to “4” are acquired. To do. Further, since a new moving object is not detected at time t3, a tracking result obtained by tracking the moving objects having the identification numbers “1” to “4” as they are is acquired. Then, in response to the reliability determination request, the first tracking sensor tracking result transmission unit 60b describes these tracking results (for example, tracking results every 1/100 second based on continuous image data every 1/100 seconds). To the first tracking sensor tracking result receiving unit 44a.

  The second tracking sensor 50 is a sensor that tracks a moving body moving within the range 1 with higher accuracy than the first tracking sensor (for range 1) 60a1, and the range 1 is tracked with the first tracking sensor (for range 1) 60a1. The range 1 is monitored in the same manner as above. Specifically, the range 1 where high reliability of the “tracking result by the first tracking sensor (for range 1) 60a1” is continuously imaged, and image data including high and low temperature data (for example, 100 minutes) Continuous image data every second).

  The tracking reliability determination request input unit 41 receives a tracking reliability determination request and is configured with a keyboard, a mouse, and the like. Specifically, the tracking reliability determination request input unit 41 includes tracking trust from an operator belonging to a management facility that manages the tracking results of the monitoring range, such as each prefectural traffic control center or VICS (Vehicle Information and Communication System) center. A degree determination request is received, or a tracking reliability determination request is received from the management facility at predetermined time intervals.

  The tracking reliability determination output unit 42 includes a first tracking sensor (for range 1) 60a1 based on the tracking reliability stored in the tracking reliability determination result storage unit 46b described later or the processing of the tracking operation stop instruction transmission unit 45c described later. Then, whether or not a tracking result operation stop instruction is sent to the first tracking sensor (for range 2) 60a2 and the first tracking sensor (for range 3) 60a3 is transmitted to the management facility. The management facility provides the information transmitted by the tracking reliability determination output unit 42 to the driver who drives the vehicle as driving support information.

  The input / output control I / F unit 43 controls data transfer between the tracking reliability determination request input unit 41 and the tracking reliability determination output unit 42, the reception unit 44, the processing unit 45, and the storage unit 46.

  The receiving unit 44 includes a first tracking sensor tracking result receiving unit 44a. The first tracking sensor tracking result receiving unit 44a receives the first tracking sensor (for range 1) 60a1 from the first tracking sensor tracking result transmitting unit 60b based on the tracking reliability request transferred from the input / output control I / F unit 43. The tracking result is received, and the tracking result is transferred to a tracking reliability determination unit 45b described later.

  The storage unit 46 stores various processing results obtained by the processing unit 45 to be described later, and particularly as closely related to the present invention, as shown in FIG. 14, a tracking result acquisition result storage unit 46a and a tracking reliability determination A result storage unit 46b. The tracking result acquisition result storage unit 46a stores the moving body information acquired from the second tracking sensor 50 described above by the tracking result acquisition unit 45a described later, and the tracking reliability determination result storage unit 46b determines the tracking reliability determination described later. The reliability of the tracking result calculated by the unit 45b is stored. Each part will be described in detail later.

  The processing unit 45 executes various processes based on the tracking reliability determination request transferred from the input / output control unit I / F unit 43, and particularly as closely related to the present invention, as shown in FIG. A tracking result acquisition unit 45a, a tracking reliability determination unit 45b, and a tracking operation stop instruction transmission unit 45c are provided. Here, the tracking result acquisition unit 45a corresponds to the “tracking result acquisition procedure” described in the claims, and the tracking reliability determination unit 45b also corresponds to the “tracking reliability determination procedure” and stops the tracking operation. The instruction sending unit 45c also corresponds to the “tracking operation stop instruction sending procedure”.

  The tracking result acquisition unit 45a detects a moving body that has entered the range 1 based on image data including high and low temperature data obtained by continuously imaging the range 1 by the second tracking sensor 50. A tracking result (for example, based on continuous image data every 1/100 second, which is a result of tracking the moving object while maintaining a state in which identification information for uniquely identifying the moving object is given until it passes. (Tracking result every 1/100 second) is acquired.

  Specifically, in the moving body moving state in the range 1 shown in FIG. 13C, the moving through the range 1 based on the continuous image data including the high and low temperature information imaged by the second tracking sensor 50. The body is detected, and a tracking result obtained by tracking the moving body having the identification numbers “1” to “6” is acquired between time t1 and time t3. Then, the tracking result acquisition unit 45a stores the acquired tracking result in the tracking result acquisition result storage unit 46a.

  The tracking reliability determination unit 45b collates whether or not the tracking result by the first tracking sensor (for range 1) 60a1 matches the tracking result by the second tracking sensor 50, and the first tracking sensor (for range 1). The reliability of the tracking results by 60a1, the first tracking sensor (for range 2) 60a2, and the first tracking sensor (for range 3) 60a3 is determined. Specifically, as shown in FIG. 13D, the “reliability of tracking result by camera” at time t1 is determined to be 75.0%, and the “reliability of tracking result by camera” at time t2 is determined. It is determined to be 80.0%, and “the reliability of the tracking result by the camera” at time t3 is determined to be 66.7%.

  Then, the tracking reliability determination unit 45b stores the reliability of the tracking result by the first tracking sensor (for range 1) 60a1 determined by collation in the tracking reliability determination result storage unit 46b.

  The tracking operation stop instruction sending unit 45c determines that the reliability of the tracking result by the first tracking sensor (for range 1) 60a1 is lower than the predetermined reliability, and the first tracking sensor (for range 1) 60a1. Then, an operation stop instruction is sent to the first tracking sensor (for range 2) 60a2 and the first tracking sensor (for range 3) 60a3 to stop the operation of the tracking result. Specifically, as shown in FIG. 13D, when the predetermined reliability (reliability setting threshold value) is 70%, the reliability is 75.0% and 80% at time t1 and time t2, respectively. Therefore, the operation stop instruction is not issued, and the operation of the tracking result is continued. On the other hand, since the reliability is lower than 66.7% and 70% at time t3, the first tracking sensor (for range 1) 60a1 and ranges 2 and 3 that are close to range 1 are monitored. The first tracking sensor (for range 2) 60a2 and the first tracking sensor (for range 3) 60a3 are instructed to stop the operation of the tracking result from time t3, and the driver is provided with low reliability information. To avoid that.

[Procedure for Processing by Tracking Reliability Determination Device in Embodiment 4]
Next, processing performed by the tracking reliability determination apparatus 40 according to the fourth embodiment will be described with reference to FIG. FIG. 15 is a flowchart illustrating a processing procedure of the tracking reliability determination apparatus according to the fourth embodiment.

  First, when the tracking reliability determination device 40 according to the fourth embodiment receives a new tracking reliability determination request from the keyboard or mouse (Yes in step S1501), the first tracking sensor tracking result reception unit 44a responds to the previous tracking reliability request. Then, the data stored in the tracking result acquisition result storage unit 46a and the tracking reliability determination result storage unit 46b are initialized (erased) (step S1502).

  The tracking result acquisition unit 45a acquires the tracking result by the second tracking sensor 50 based on the continuous image data captured by the second tracking sensor 50 that monitors the range 1 (step S1503). That is, the tracking result acquisition unit 45a detects a moving body that has entered the range 1 based on the image data captured by the second tracking sensor 50, and the moving body is detected until the moving body passes the range 1. A tracking result, which is a result of tracking a moving object while maintaining a state in which identification information for uniquely identifying is given, is acquired.

  Specifically, in the moving body moving situation in range 1 shown in FIG. 13C, a moving body that passes through range 1 is detected, and identification numbers “1” to “6” between time t1 and time t3. The tracking result obtained by tracking the moving object is acquired.

  Subsequently, the first tracking sensor tracking result receiving unit 44a receives the tracking result by the first tracking sensor (for range 1) 60a1 from the first tracking sensor tracking result transmitting unit 60b (step S1504). In other words, the first tracking sensor tracking result receiving unit 44a has the continuous image data (the range 1) 60a1 captured by the moving body tracking device 60 in the moving body situation shown in FIG. For example, the tracking result acquired based on 1/100 second of continuous image data) is received.

  Subsequently, the tracking reliability determination unit 45b collates whether the tracking result by the first tracking sensor (for range 1) 60a1 matches the tracking result by the second tracking sensor 50, and determines whether or not the first tracking sensor (range) 1) 60a1 and the first tracking sensor (for range 3) 60a3 determine the reliability of the tracking result (step S1505). That is, as shown in FIG. 13D, the “reliability of tracking result by camera” at time t1 is determined to be 75.0%, and the “reliability of tracking result by camera” at time t2 is 80.0. %, And “reliability of tracking result by camera” at time t3 is determined to be 66.7%.

  Then, the tracking operation stop instruction sending unit 45c determines whether or not the reliability of the tracking result by the first tracking sensor (for range 1) 60a1 is lower than a predetermined reliability (for example, 70% as a reliability setting threshold). (Step S1506). Here, when it is determined that the tracking result by the first tracking sensor (for range 1) 60a1 is the value of the reliability setting threshold abnormality (No in step S1506), a plurality of ranges including the range 1 are monitored. The operation stop instruction is not issued to a plurality of cameras, the operation of the tracking result is continued, and the process is terminated. That is, as shown in FIG. 13D, when the reliability setting threshold is 70%, the reliability is 75.0% and 80.0% at time t1 and time t2, respectively. No instruction is given, the operation of the tracking result is continued, and the process is terminated.

  On the other hand, if it is determined that the tracking result by the first tracking sensor (for range 1) 60a1 is lower than the reliability setting threshold (Yes at step S1506), a plurality of ranges including range 1 are monitored. An operation stop instruction indicating that the operation of the tracking result should be stopped is sent to a plurality of cameras (step S1507), and the process ends. That is, as shown in FIG. 13D, at time t3, since the reliability is 66.7%, which is lower than 70%, the first tracking sensor (for range 1) 60a1, which is a camera that monitors range 1, The first tracking sensor (for range 2) 60a2 and the first tracking sensor (for range 3) 60a3 that monitor the range 2 and the range 3 that are close to the range 1 are tracked from the time t3. An operation stop instruction indicating that the operation of the result should be stopped is sent, and the process is terminated.

[Effect of Example 4]
As described above, according to the fourth embodiment, the tracking result of the moving object is acquired from the second tracking sensor 50 that tracks the moving object with higher accuracy than the first tracking sensor (for range 1) 60a1. By comparing whether the tracking result by the tracking sensor (for range 1) 60a1 matches the tracking result by the second tracking sensor 50, the first tracking sensor (for range 1) 60a1 and the first tracking sensor (for range 2) For example, the reliability of the tracking result by the first tracking sensor (for range 3) 60a3 is determined. By locating the second tracking sensor 50 with higher accuracy than the one tracking sensor (for range 1) 60a1, the tracking result by the first tracking sensor (for range 1) 60a1 can be compared with the tracking result by the second tracking sensor 50, First tracking center The reliability of service (for range 1) 60a1 by tracking result it is possible to accurately determine. Also, the tracking results by the first tracking sensor (for range 2) 60a2 and the first tracking sensor (for range 3) 60a3 that monitor the range 2 and the range 3 that are close to the range 1 for which the reliability has been determined, respectively. Since the reliability can be determined, there is no need to install the second tracking sensor 50 in the entire range, and the cost of capital investment can be kept low.

  Further, according to the fourth embodiment, when it is determined that the reliability of the tracking result by the first tracking sensor (for range 1) 60a1 that monitors the range 1 is lower than the predetermined reliability, the first tracking sensor ( An operation stop instruction indicating that the operation of the tracking result should be stopped is sent to the first tracking sensor (for range 2) 60a2 and the first tracking sensor (for range 3) 60a3. Therefore, it is possible to instruct the operation stop of the tracking result with low reliability, and it is possible to provide only the driver assistance information with high reliability without providing the driver with the tracking result with low reliability. become.

  Now, although the tracking reliability determination apparatus in Examples 1-4 was demonstrated so far, this invention may be implemented with a various different form other than the Example mentioned above. Therefore, in the following, various different embodiments will be described as (1) to (5) as the tracking reliability determination apparatus according to the fifth embodiment.

(1) Tracking sensor and specific position sensor In the above-described first and third embodiments, the case where the “camera” is installed as the tracking sensor and the “ultrasonic sensor” is installed as the specific position sensor has been described. Is not limited to this, but as a combination of “tracking sensor” and “specific position sensor”, “camera” and “millimeter wave sensor”, “camera” and “loop coil”, “millimeter wave sensor” and “ Ultrasonic sensor, millimeter wave sensor and loop coil, infrared sensor and ultrasonic sensor, infrared sensor and loop coil, infrared sensor and millimeter wave sensor, etc. May be.

  In the second embodiment, the case where “camera” and “infrared sensor” are installed as a plurality of tracking sensors for tracking a moving body by different methods and “ultrasonic sensor” is installed as a specific position sensor has been described. However, the present invention is not limited to this, and a plurality of tracking sensors selected from “camera”, “infrared sensor”, “millimeter wave sensor” and the like, and “ultrasonic sensor” as a specific position sensor, A specific position sensor selected from “millimeter wave sensor” and “loop coil” may be combined.

  And in said Example 4, although the camera was installed as a 1st tracking sensor and the case where the infrared sensor was installed as a 2nd tracking sensor was demonstrated, this invention is not limited to this, " As a combination of the “first tracking sensor” and the “second tracking sensor”, “camera” and “millimeter wave sensor”, “infrared sensor” and “millimeter wave sensor”, and the like may be used.

(2) Moving body information In the above-described first to third embodiments, tracking presence / absence information indicating the presence / absence of a moving body passing through a specific position is acquired as moving body information from the specific position sensor, and the tracking acquired by the mobile body tracking device is acquired. Although the case where the result of the conversion is converted into the passage presence / absence information indicating the presence / absence of the moving body passing through the specific position as the moving body information and the passage presence / absence information is collated, the reliability of the tracking result by the tracking sensor is determined. The present invention is not limited to this. Detailed information indicating one or more of the speed, size, shape, and pattern of the moving object passing through the specific position is acquired from the specific position sensor, and the tracking sensor The result of tracking is converted into detailed information that indicates one or more of the speed, size, shape, and pattern of the moving object that passes the specific position, and the converted detailed information is acquired by the specific position sensor. The reliability of the tracking result by the tracking sensor may be determined by checking whether or not the detailed information matches.

  Specifically, for example, the passage presence / absence information and the moving speed information of the moving body that passes the specific position are acquired from the “loop coil” that is the specific position sensor, and the tracking result by the “camera” that is the tracking sensor is obtained. , Whether or not the moving body passing through the specific position is converted into the passing information and the passing speed information of the moving body, and whether or not the converted passing presence information and the passing speed information match the detailed information acquired by the specific position sensor. Each check is performed to determine the reliability of the tracking result by the tracking sensor, so details such as the moving speed of the moving object converted from the tracking result by the tracking sensor and details such as the passing speed of the moving object acquired from the specific position sensor The tracking result of the tracking sensor itself can be evaluated and the reliability of the tracking result of the tracking sensor can be determined more accurately. That.

(3) Range of processing time In the first to third embodiments described above, the mobile body information for a predetermined time (for example, 2 minutes) is collated from the tracking reliability determination request, and the reliability of the tracking result by the tracking sensor is determined. However, the present invention is not limited to this, and a predetermined time (for example, one minute before and after the time when the tracking reliability determination request is received) is sandwiched between the time when the tracking reliability determination request is received. For example, two minutes each), and the reliability of the tracking result by the tracking sensor may be determined.

  Specifically, the tracking reliability determination device, in response to the tracking reliability determination request, moves after passing through the specific position for two minutes, one minute before and after the time when the tracking reliability determination request is received from the specific position sensor. Acquire body pass / fail information, and from the tracking result of the tracking sensor, pass / fail information of the mobile body that passed the specific position for 2 minutes, 1 minute before and after the time when the tracking reliability determination request was received. It may be a tracking reliability determination device that converts and collates the passage presence / absence information to determine the reliability of the tracking result by the tracking sensor.

(4) System configuration, etc. Further, the processing procedures, specific names, information including various data and parameters shown in the above text and drawings can be arbitrarily changed unless otherwise specified. For example, the start of the mobile body information acquisition procedure (step S603) and the start of the mobile body information conversion procedure (step S604) shown in FIG. 6 may be performed in the reverse order, or the processes may be performed simultaneously. You may start.

  Further, each component of each illustrated apparatus is functionally conceptual, and does not necessarily need to be physically configured as illustrated. That is, the specific form (for example, the form of FIG. 2) of the distribution / integration of each processing unit and each storage unit is not limited to the illustrated one. For example, the tracking reliability determination unit 15c and the tracking operation stop instruction sending unit 15d. Or all of them can be configured functionally or physically distributed and integrated in arbitrary units according to various loads and usage conditions. Further, all or any part of each processing function performed in each device may be realized by a CPU and a program analyzed and executed by the CPU, or may be realized as hardware by wired logic.

(5) Tracking reliability determination program In the above first to fourth embodiments, the case where various processes are realized by hardware logic has been described. However, the present invention is not limited to this and is prepared in advance. The program may be executed on a computer. Therefore, in the following, an example of a computer that executes a tracking reliability determination program having the same function as the tracking reliability determination device 10 described in the first embodiment will be described with reference to FIG. FIG. 16 is a diagram illustrating the computer that executes the tracking reliability determination program according to the first embodiment.

  As shown in FIG. 16, a computer 160 as an information processing apparatus is configured by connecting a keyboard 161, a display 162, a CPU 163, a ROM 164, an HDD 165, and a RAM 166 via a bus 167 and the like, and further, a specific position sensor 20 and a moving body tracking apparatus. 30.

  In the ROM 164, a tracking reliability determination program that exhibits the same function as the tracking reliability determination device 10 shown in the first embodiment, that is, as shown in FIG. 16, the mobile object information acquisition program 164a, the mobile object information A conversion program 164b, a tracking reliability determination program 164c, and a tracking operation stop instruction sending program 164d are stored in advance. Note that these programs 164a to 164d may be appropriately integrated or distributed in the same manner as each component of the tracking reliability determination apparatus 10 shown in FIG.

  Then, the CPU 163 reads out these programs 164a to 164d from the ROM 164 and executes them, so that each program 164a to 164d has a mobile object information acquisition process 163a, a mobile object information conversion process 163b, and a tracking as shown in FIG. It functions as a reliability determination process 163c and a tracking operation stop instruction transmission process 163d. Each process 163a to 163d corresponds to the mobile body information acquisition unit 15a, the mobile body information conversion unit 15b, the tracking reliability determination unit 15c, and the tracking operation stop instruction transmission unit 15d illustrated in FIG.

  Further, as shown in FIG. 16, the HDD 165 is provided with tracking sensor tracking result reception data 165a, moving object information acquisition result data 165b, moving object information conversion result data 165c, and tracking reliability determination result data 165d. It is done. The tracking sensor tracking result reception data 165a corresponds to the tracking sensor tracking result reception unit 14a used in FIG. 2, and the moving body information acquisition result data 165b corresponds to the moving body information acquisition result storage unit 16a. The result data 165c corresponds to the mobile object information conversion result storage unit 16b, and the tracking reliability determination result data 165d corresponds to the tracking reliability determination result storage unit 16c. Then, the CPU 163 registers the tracking sensor tracking result reception data 166a with the tracking sensor tracking result reception data 165a, registers the moving body information acquisition result data 166b with the moving body information acquisition result data 165b, and moves the mobile body information. The conversion result data 166c is registered in the mobile object information conversion result data 165c, the tracking reliability determination result data 166d is registered in the tracking reliability determination result data 165d, and the tracking sensor tracking result reception data 166a is moved. The tracking reliability determination process is executed based on the body information acquisition result data 166b, the mobile body information conversion result data 166c, and the tracking reliability determination result data 166d.

  The above-described programs 164a to 164d are not necessarily stored in the ROM 164 from the beginning. For example, a flexible disk (FD), a CD-ROM, an MO disk, a DVD disk, a magneto-optical disk inserted into the computer 160, and the like. A computer 160 via a “portable physical medium” such as a disk or an IC card, or a “fixed physical medium” such as an HDD provided inside or outside the computer 160, or via a public line, the Internet, a LAN, or a WAN. Each program may be stored in “another computer (or server)” connected to the computer, and the computer 160 may read and execute each program from these programs.

(Supplementary note 1) A tracking reliability determination program for causing a computer to execute a tracking reliability determination method for monitoring a predetermined range and determining the reliability of a tracking result by a tracking sensor that tracks a moving object moving within the range. And
A mobile body information acquisition procedure for acquiring mobile body information, which is information of a mobile body that passes through the specific position, from a specific position sensor that monitors a specific position in the predetermined range;
Mobile body information for converting the tracking result of the tracking sensor into mobile body information that is information of a mobile body that passes through the specific position as information that can be collated with the mobile body information acquired by the mobile body information acquisition procedure. Conversion procedure and
The mobile body information converted by the mobile body information conversion procedure is compared with the mobile body information acquired by the mobile body information acquisition procedure, and the reliability of the tracking result by the tracking sensor is determined. Reliability judgment procedure,
A tracking reliability determination program characterized by causing a computer to execute.

(Additional remark 2) The said specific position sensor is a sensor which detects the presence or absence of the moving body which passes the said specific position,
The moving body information acquisition procedure acquires passing presence / absence information indicating the presence / absence of a moving body passing through the specific position from the specific position sensor,
The moving body information conversion procedure converts the tracking result by the tracking sensor into passing presence / absence information indicating the presence / absence of a moving body passing through the specific position,
The reliability determination procedure collates whether or not the passage presence / absence information converted by the mobile body information conversion procedure matches the passage presence / absence information acquired by the mobile body information acquisition procedure, and tracks by the tracking sensor. The tracking reliability determination program according to appendix 1, wherein the reliability of the result is determined.

(Additional remark 3) The said specific position sensor is a sensor which detects any one or more of the speed of the mobile body which passes the said specific position, a size, a shape, and a pattern,
The mobile body information acquisition procedure acquires detailed information indicating any one or more of the speed, size, shape, and pattern of the mobile body that passes through the specific position from the specific position sensor,
The mobile object information conversion procedure converts the tracking result by the tracking sensor into detailed information indicating one or more of the speed, size, shape, and pattern of the mobile object that passes through the specific position,
The reliability determination procedure collates whether or not the detailed information converted by the mobile object information conversion procedure matches the detailed information acquired by the mobile object information acquisition procedure. The tracking reliability determination program according to appendix 1, wherein the reliability is determined.

(Supplementary Note 4) When it is determined by the reliability determination procedure that the reliability of the tracking result by the tracking sensor is lower than a predetermined reliability, the operation of the tracking result should be stopped for the tracking sensor The tracking reliability determination program according to any one of appendices 1 to 3, further causing a computer to execute an operation stop instruction sending procedure for sending an operation stop instruction to the effect.

(Supplementary Note 5) The tracking sensors are a plurality of tracking sensors that respectively track the moving body by different methods,
The mobile information conversion procedure converts, for each of the plurality of tracking sensors, a tracking result by each tracking sensor into mobile information that is information of a mobile that passes through the specific position,
In the reliability determination procedure, for each of the plurality of tracking sensors, it is verified whether or not the mobile object information converted by the mobile object information conversion procedure matches the mobile object information acquired by the mobile object information acquisition procedure. To determine the reliability of the tracking results by each tracking sensor,
In the operation stop instruction sending procedure, the reliability of the tracking results obtained by the tracking sensors determined by the reliability determination procedure is compared with each other, and the tracking sensors other than the tracking sensor with the best reliability are tracked. The tracking reliability determination program according to appendix 4, wherein an operation stop instruction indicating that the operation of the result should be stopped is transmitted.

(Supplementary Note 6) A predetermined area is shared and monitored by a plurality of first tracking sensors for each predetermined range, and the reliability of the tracking result obtained by tracking a moving body moving in the area is determined. A tracking reliability determination program for causing a computer to execute a tracking reliability determination method,
Tracking result for obtaining tracking results of the moving body from a second tracking sensor that monitors any predetermined range and tracks a moving body moving within the range with higher accuracy than the first tracking sensor. Acquisition procedure;
Check whether the tracking result by the first tracking sensor that monitors the same range as the second tracking sensor matches the tracking result acquired by the moving body information acquisition procedure, and the first tracking A reliability determination procedure for determining the reliability of the tracking result by the plurality of first tracking sensors including a sensor;
A tracking reliability determination program characterized by causing a computer to execute.

(Supplementary note 7) A tracking reliability determination method for determining a reliability of a tracking result by a tracking sensor that monitors a predetermined range and tracks a moving body moving within the range,
A mobile body information acquisition step of acquiring mobile body information that is information of a mobile body that passes through the specific position from a specific position sensor that monitors a specific position in the predetermined range;
Mobile body information for converting the tracking result of the tracking sensor into mobile body information that is information of a mobile body that passes through the specific position as information that can be collated with the mobile body information acquired by the mobile body information acquisition procedure. Conversion process;
The mobile body information converted by the mobile body information conversion procedure is compared with the mobile body information acquired by the mobile body information acquisition procedure, and the reliability of the tracking result by the tracking sensor is determined. A reliability determination step;
The tracking reliability determination method characterized by including.

(Supplementary Note 8) A tracking reliability determination device that monitors a predetermined range and determines the reliability of a tracking result by a tracking sensor that tracks a moving body that moves within the range,
Mobile body information acquisition means for acquiring mobile body information, which is information of a mobile body passing through the specific position, from a specific position sensor that monitors a specific position in the predetermined range;
Mobile body information for converting the tracking result of the tracking sensor into mobile body information that is information of a mobile body that passes through the specific position as information that can be collated with the mobile body information acquired by the mobile body information acquisition procedure. Conversion means;
The mobile body information converted by the mobile body information conversion procedure is compared with the mobile body information acquired by the mobile body information acquisition procedure, and the reliability of the tracking result by the tracking sensor is determined. Reliability determination means;
A tracking reliability determination device characterized by comprising:

As described above, the tracking reliability determination program according to the present invention is useful for determining the reliability of a tracking result by a tracking sensor that monitors a predetermined range and tracks a moving body that moves within the range. Particularly, it is suitable for accurately determining the reliability of the tracking result by the tracking sensor.

It is a figure for demonstrating the outline | summary and the characteristic of the tracking reliability determination apparatus in Example 1. FIG. It is a block diagram which shows the structure of the tracking reliability determination apparatus in Example 1. FIG. It is a figure for demonstrating a mobile body information acquisition part. It is a figure for demonstrating a mobile body information conversion part. It is a figure for demonstrating a tracking reliability determination result memory | storage part and a tracking operation stop instruction | indication part. It is a figure for demonstrating the process of the tracking reliability determination apparatus in Example 1. FIG. It is a figure for demonstrating the outline | summary and the characteristic of the tracking reliability determination apparatus in Example 2. FIG. It is a block diagram which shows the structure of the tracking reliability determination apparatus in Example 2. FIG. It is a figure for demonstrating the process of the tracking reliability determination apparatus in Example 2. FIG. It is a figure for demonstrating the outline | summary and the characteristic of the tracking reliability determination apparatus in Example 3. FIG. It is a block diagram which shows the structure of the tracking reliability determination apparatus in Example 3. FIG. FIG. 10 is a diagram for explaining processing of a tracking reliability determination apparatus according to a third embodiment. It is a figure for demonstrating the outline | summary and the characteristic of the tracking reliability determination apparatus in Example 4. FIG. It is a block diagram which shows the structure of the tracking reliability determination apparatus in Example 4. FIG. 10 is a diagram for explaining processing of a tracking reliability determination apparatus according to a fourth embodiment. It is a figure which shows the computer which runs the tracking reliability determination program of Example 1. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Tracking reliability determination apparatus 11 Tracking reliability determination request | requirement input part 12 Tracking reliability determination output part 13 Input / output control I / F part 14 Receiving part 14a Tracking sensor tracking result receiving part 15 Processing part 15a Mobile body information acquisition part 15b Movement Body information conversion unit 15c Tracking reliability determination unit 15d Tracking operation stop instruction transmission unit 16 Storage unit 16a Mobile body information acquisition result storage unit 16b Mobile body information conversion result storage unit 16c Tracking reliability determination result storage unit 20 Specific position sensor 30 Movement Body tracking device 30a tracking sensor 30b tracking sensor tracking result transmitter

Claims (3)

A tracking reliability determination method for determining reliability of a tracking result by a mobile tracking device that tracks a moving body moving within the range using image data of a predetermined range acquired by a tracking sensor or reflected wave data A tracking reliability determination program to be executed by a computer,
A plurality of the specific position sensor, mobile unit information acquisition procedure for acquiring mobile unit information is information of a moving body passes through each specific position to monitor each of a plurality of specific positions in the predetermined range,
As the information that can be collated with the mobile body information of each of the plurality of specific positions acquired by the mobile body information acquisition procedure, the mobile body that passes the tracking result by the mobile body tracking device through each of the plurality of specific positions. Mobile object information conversion procedure for converting to mobile object information which is information of
The mobile body tracking is performed by checking whether the mobile body information converted by the mobile body information conversion procedure matches the mobile body information acquired by the mobile body information acquisition procedure for each of the plurality of specific positions. A reliability determination procedure for determining the reliability of the tracking result by the device for each of the plurality of specific positions ;
When there is a specific position where the reliability determined by the reliability determination procedure is lower than a predetermined reliability, a range behind the tracking sensor from the specific position in the predetermined range An operation stop instruction sending procedure for sending an operation stop instruction to stop the operation of the tracking result to the mobile tracking device;
A tracking reliability determination program characterized by causing a computer to execute. The specific position sensor is a sensor that detects the presence or absence of a moving body that passes through the specific position,
The moving body information acquisition procedure acquires passing presence / absence information indicating the presence / absence of a moving body passing through the specific position from the specific position sensor,
The mobile body information conversion procedure converts the tracking result by the mobile body tracking device into passage presence / absence information indicating the presence / absence of a mobile body that passes through the specific position,
The reliability determination procedure collates whether or not the passage presence / absence information converted by the mobile body information conversion procedure matches the passage presence / absence information acquired by the mobile body information acquisition procedure, and the mobile body tracking device The tracking reliability determination program according to claim 1, wherein the reliability of the tracking result is determined. The tracking sensors are a plurality of tracking sensors that respectively track the moving body by different methods,
The mobile body information conversion procedure converts the tracking result by the mobile body tracking device for each of the plurality of tracking sensors into mobile body information that is information of a mobile body that passes through the specific position,
In the reliability determination procedure, for each of the plurality of tracking sensors, it is verified whether or not the mobile object information converted by the mobile object information conversion procedure matches the mobile object information acquired by the mobile object information acquisition procedure. Determining the reliability of the tracking result for each of the plurality of tracking sensors by the mobile tracking device ;
The operation stop instruction transmission procedure compares the reliability of the tracking results obtained by the tracking sensors determined by the reliability determination procedure with each other, and the tracking result using the tracking sensor other than the tracking sensor with the best reliability is obtained. The tracking reliability determination program according to claim 1 or 2 , wherein an operation stop instruction indicating that the operation should be stopped is transmitted to the mobile tracking device .

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