Image processing device, radar apparatus equipped with the same, method of processing image, and image processing program

Abstract

This disclosure provides an image processing device, which includes a relative trail image memory for storing a relative trail data group indicating relative changes in position of a target object detected by echo signals obtained corresponding to detection signals transmitted while changing a transmitting azimuth direction, with respect to a transmitting position from which the detection signals are transmitted, and an approaching target object determination processing module for determining whether the target object detected with the detection signals is an approaching target object that approaches the transmitting position based on relative trail data existing on the same sweep line among the relative trail data group stored in the relative trail image memory.

1 . An image processing device, comprising:
 a relative trail image memory for storing a relative trail data group indicating relative changes in position of a target object detected by echo signals obtained corresponding to detection signals transmitted while changing a transmitting azimuth direction, with respect to a transmitting position from which the detection signals are transmitted; and   an approaching target object determination processing module for determining whether the target object detected with the detection signals is an approaching target object that approaches the transmitting position based on relative trail data existing on the same sweep line among the relative trail data group stored in the relative trail image memory.   
     
     
         2 . The image processing device of  claim 1 , wherein the target object determined to be the approaching target object by the approaching target object determination processing module is displayed so as to be distinguished from another target object. 
     
     
         3 . The image processing device of  claim 2 , wherein a relative trail of the target object is displayed along with the target object based on the relative trail data group. 
     
     
         4 . The image processing device of  claim 2 , comprising an actual trail image memory for storing an actual trail data group indicating absolute changes in position of the target object detected with the echo signals;
 wherein an actual trail of the target object is displayed along with the target object based on the actual trail data group.   
     
     
         5 . The image processing device of  claim 3 , wherein the relative trail of the target object determined to be the approaching target object by the approaching target object determination module is displayed so as to be distinguished from another target object. 
     
     
         6 . The image processing device of  claim 4 , wherein the actual trail of the target object determined to be the approaching target object by the approaching target object determination module is displayed so as to be distinguished from another target object. 
     
     
         7 . The image processing device of  claim 1 , wherein the relative trail data is information that is generated per pixel constituting the relative trail image memory and varies in a stepwise fashion with a time elapsed after the target object is detected for the last time, and
 wherein the approaching target object determination processing module determines, if the target object is detected on the sweep line, and if a value of the relative trail data varies while maintaining a continuity of the pixels on the sweep line in a direction apart from the transmitting position using a detection position as a starting point, and satisfying a predetermined condition, that the pixel is determined to be included in relative trail corresponding to the approaching target object.   
     
     
         8 . The image processing device of  claim 7 , wherein the predetermined condition is configured to be changeable. 
     
     
         9 . The image processing device of  claim 7 , comprising an approaching target object position acquisition module for finding a pixel at which the approaching target object of the relative trail currently exists based on the relative trail data group from the pixels determined to be included in the relative trail corresponding to the approaching target object by the approaching target object determination processing module. 
     
     
         10 . The image processing device of  claim 1 , comprising:
 an alert range determination module for detecting the approaching target object existing within an alert range set in advance; and   an informing module for operating when the approaching target object is detected by the alert range determination module.   
     
     
         11 . A radar apparatus equipped with the image processing device of  claim 1 . 
     
     
         12 . A method of processing an image, comprising:
 acquiring echo signals obtained corresponding to detection signals transmitted while changing a transmitting azimuth direction;   storing a relative trail data group indicating relative changes in position of a target object detected with the echo signals, with respect to a transmitting position from which the detection signals are transmitted; and   determining whether the target object detected with the detection signals is an approaching target object that approaches the transmitting position based on relative trail data existing on the same sweep line among the relative trail data group.   
     
     
         13 . An image processing program for causing a computer to execute processing, the processing comprising:
 acquiring echo signals obtained corresponding to detection signals transmitted while changing a transmitting azimuth direction;   storing a relative trail data group indicating relative changes in position of a target object detected with the echo signals, with respect to a transmitting position from which the detection signals are transmitted; and   determining whether the target object detected with the detection signals is an approaching target object that approaches the transmitting position based on relative trail data existing on the same sweep line among the relative trail data group.