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公开(公告)号：US12038495B2
公开(公告)日：2024-07-16
申请号：US17237593
申请日：2021-04-22
Applicant: DENSO CORPORATION
Inventor： Yusuke Akamine , Takuya Takayama , Yasuyuki Miyake
IPC: G01S13/72 , G01S7/41 , G01S13/52 , G01S13/58 , G01S13/931
CPC classification number: G01S13/723 , G01S7/415 , G01S13/52 , G01S13/584 , G01S13/931
Abstract: An object tracking apparatus generates a plurality of target candidates in which ambiguity in velocity is assumed for an object detected for a first time, calculates a current prediction value of a state quantity of each target candidate from a past estimation value of the state quantity of each target candidate, using one filter among a plurality of filters, and calculates the current estimation value of the state quantity of the target candidate from each of the calculated prediction values and a current observation value that matches each prediction value. The object tracking apparatus deletes the target candidate of which a determined likelihood is less than a preset threshold among the target candidates, and switches a used filter to a filter that has a larger number of state variables among the filters, in response to the target candidate being deleted and the total number of target candidates decreasing.
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公开(公告)号：US11994577B2
公开(公告)日：2024-05-28
申请号：US17473753
申请日：2021-09-13
Applicant: DENSO CORPORATION
Inventor： Yusuke Akamine , Takuya Takayama
CPC classification number: G01S13/583 , G01S7/352 , G01S13/60
Abstract: In an object tracking device, a candidate generator is configured to, given P=Kmax−Kmin+1 that defines a range of foldings of velocity by phase rotation from Kminth to Kmaxth foldings, calculate P velocity estimates for each of initial observation points. The candidate generator sets the number of foldings Kmin and the number of foldings Kmax such that Kmin |Kmax| when an absolute value of an observation angle representing a direction of the observation point is equal to or less than a first threshold value, and Kmax>0 and |Kmin|
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公开(公告)号：US11169252B2
公开(公告)日：2021-11-09
申请号：US16323876
申请日：2017-08-08
Applicant: DENSO CORPORATION
Inventor： Takuya Takayama
Abstract: A range setting unit sets, for each of tracked objects as objects being tracked, a connection range as a range in which the tracked object is estimated to be movable based on a state quantity of the tracked objects determined in the previous processing cycle. An association extraction unit extracts, for each of the tracked objects, a reflection point detected in the current processing cycle and positioned in the connection range as an associated reflection point. A state quantity update unit updates, for each of the tracked objects, the state quantity of the tracked objects in the current processing cycle, based on the previous state quantity and the state quantity of the associated reflection point.
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公开(公告)号：US11131764B2
公开(公告)日：2021-09-28
申请号：US16814098
申请日：2020-03-10
Applicant: DENSO CORPORATION
Inventor： Takuya Takayama
Abstract: A transmission antenna section includes a plurality of transmission antennas, and a reception antenna section includes one or more reception antennas. A modulation section causes a continuous wave common signal generated by an oscillation section to be branched into the same number as the transmission antennas, and performs phase shift keying using a different phase rotation amount for each of the plurality of branch signals. Thus, the modulation section generates a plurality of transmission signals inputted into the plurality of transmission antennas. A processing section generates, on the basis of a plurality of signal components, information on an object by which a radiation wave from the transmission antenna section has been reflected, the plurality of signal components being extracted from each of one or more reception signals received by the antenna section and corresponding to the plurality of transmission signals.
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