公开(公告)号：US20240069187A1

公开(公告)日：2024-02-29

申请号：US18505976

申请日：2023-11-09

Applicant: DENSO CORPORATION

Inventor： Tetsuya KUSUMOTO ,  Shingo SHIMIZU ,  Takashi OGAWA ,  Masaki YONEDA

IPC: G01S13/66

CPC classification number: G01S13/66

Abstract: An observation allocating section exclusively allocates an observation point to each existing tracker in accordance with a distance between observation information acquired by an information acquiring section and observation information indicated by a predictive distribution. A hypothesis generating section generates a hypothesis likelihood and a hypothesis distribution, for each target tracker and for each hypothesis belonging to a hypothesis group including a first hypothesis and a second hypothesis. The first hypothesis is a hypothesis that the observation point is a result of observation of a subject target. The second hypothesis is a hypothesis that the observation point is not a result of observation of the subject target. The hypothesis likelihood is the likelihood of the hypothesis. The hypothesis distribution is the state distribution updated on the assumption that the hypothesis is correct.

公开(公告)号：US20230417873A1

公开(公告)日：2023-12-28

申请号：US18463156

申请日：2023-09-07

Applicant: SOKEN, INC. ,  DENSO CORPORATION

Inventor： Tetsuya KUSUMOTO ,  Shingo SHIMIZU ,  Takashi OGAWA ,  Masaki YONEDA

IPC: G01S7/48 ,  G01S17/66 ,  G01S17/931

CPC classification number: G01S7/4802 ,  G01S17/66 ,  G01S17/931

Abstract: A positional information acquiring unit that acquires positional information in accordance with an object detection signal of the object sensor includes a first acquiring unit that acquires first observation information as positional information using a first threshold, and a second acquiring unit that acquires second observation information as positional information using a second threshold different from the first threshold. The object tracking unit is provided with a first tracking processing unit that executes a tracking process in accordance with the first observation information and a second tracking processing unit that executes the tracking process in accordance with the second observation information. Either one of the first tracking processing unit or the second tracking processing unit has anti-clutter characteristics higher than that of the other one. A state identifying unit identifies the state of the object based on a result of the tracking process executed by the tracking processing unit.

公开(公告)号：US20240219521A1

公开(公告)日：2024-07-04

申请号：US18604161

申请日：2024-03-13

Applicant: DENSO CORPORATION

Inventor： Shingo SHIMIZU ,  Tetsuya KUSUMOTO ,  Masaki YONEDA ,  Takashi OGAWA

IPC: G01S7/41 ,  G01S13/931

CPC classification number: G01S7/412 ,  G01S13/931 ,  G01S2013/9323

Abstract: An object recognition device according to one aspect of the present disclosure includes a target sensor, a tracking unit, a detection probability calculation unit, a presence probability calculation unit, and a recognition unit. The detection probability calculation unit is configured to calculate a detection probability of a target in the current process cycle, wherein the stronger the reflection intensity in the previous processing cycle, the higher is made the calculated detection probability. The presence probability calculation unit is configured to calculate the presence probability of the target with respect to the observed value of the reflection position in the current processing cycle, using the calculated detection probability. The recognition unit is configured to recognize a target being tracked as a target representing an object, in response to the presence probability being greater than or equal to a predetermined value.

公开(公告)号：US20250138177A1

公开(公告)日：2025-05-01

申请号：US19005635

申请日：2024-12-30

Applicant: DENSO CORPORATION

Inventor： Masaki YONEDA ,  Takashi OGAWA

IPC: G01S13/72 ,  G01S13/931

Abstract: An object tracking device includes: an observation point extractor extracting, based on a state quantity of a target estimated during a previous cycle, an observation point obtained from the target during a current cycle, a prediction point generator generating, based on the state quantity of the target estimated during the previous cycle, a prediction point at a predicted position at which the observation point is expected, an aligner bringing the observation point obtained from the target during the current cycle and the prediction point generated by the prediction point generator into alignment by scan matching, and a residual calculator obtaining a correspondence point of the target at the predicted position corresponding to the observation point from the prediction point brought into alignment with the observation point obtained during the current cycle and calculating a residual between the observation point and the correspondence point.