Patent attributes
A feature amount of an inter-mobile unit relative movement are detected as an observation amount by an observation amount detecting section 26, time series of the observation amounts are stored as an observation series into a storage section 27 to calculate a similarity of the observation series to a predetermined collision observation series by a classification section 28. A determination section 29 determines to be a collision accident if, in a case where the similarity is larger than a predetermined value, a mobile unit associated with the similarity is at rest in a stoppage prohibition area set in a storage section 30 and another mobile unit is moving, and to be a mobile unit failure if collision determination conditions except for the similarity are met. By consisting of not only a first scalar obtained by quantizing a relative velocity vector between mobile units but also a second scalar obtained by quantizing a relative position vector between mobile units as the observation amount, a relative movement between mobile units is classified in more detail. A mobile unit is tracked in units of block by a mobile unit tracking section 25 to discriminate overlapped mobile units in pictures.
