| 摘要 |
PROBLEM TO BE SOLVED: To surely perform data fusion processing of a target regardless of presence/absence of the target.SOLUTION: A plot fusion device has track hypothesis preparation means and target track establishment means. The track hypothesis preparation means retains cells for which plot data is found by each sensor as map information, sets as input information a travel vector to plot data in a subsequent scanning having possibility of travelling within a gate determined by a travel range of a detection object target for plot data in the previous scanning on the basis of map information acquired in the subsequent scanning and map information retained in the previous scanning in the past and prepares track hypotheses from the series of input information until the n-th scanning. The target track establishment means establishes a target track by integrating track hypotheses in which travel routes in a prescribed time match each other between multiple sensors regarding track hypotheses by these sensors and rejects the inconsistent track hypotheses. |
