公开(公告)号：US20230417895A1

公开(公告)日：2023-12-28

申请号：US18463967

申请日：2023-09-08

Applicant: DENSO CORPORATION

Inventor： Koichiro SUZUKI ,  Chiharu YAMANO ,  Toshiyuki MIYAZAKI ,  Norikazu IKOMA

IPC: G01S13/58 ,  G01S13/66 ,  G01S7/40

CPC classification number: G01S13/58 ,  G01S13/66 ,  G01S7/40

Abstract: A target object is tracked based on dimensional information of an observation space including a relative velocity of the target object with respect to a sensing device for observing a reflection wave from the target object. An estimation state is acquired by estimating a state of the target object at a specific time. A reflection source of the reflection wave that gives an observation point observed at the specific time is assumed with respect to the estimation state. A state validity of the estimation state is acquired. The estimation state is updated based on the state validity expressed including a difference between dimensional information of the reflection source projected onto the observation space in the estimation state and the observation information.

公开(公告)号：US20220236401A1

公开(公告)日：2022-07-28

申请号：US17659307

申请日：2022-04-14

Applicant: DENSO CORPORATION

Inventor： Mitsutoshi MORINAGA ,  Koichiro SUZUKI ,  Chiharu YAMANO ,  Norikazu IKOMA

IPC: G01S13/72 ,  G01S17/58 ,  G01S13/42

Abstract: A tracking apparatus which tracks a target includes a predilection unit, correction unit, and updating unit. The prediction unit predicts the state distribution of the target at a specific time. The correction unit, for at least one observation point of the target, that is observed at the specific time, uses a likelihood function to define a degree of certainty of the state distribution predicted by the prediction unit, and corrects the likelihood function depending on the number of observation points. The updating unit updates the state distribution at the specific time based on the likelihood function corrected by the correction unit.