Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Mitsutoshi Morinaga

Chiharu Yamano

Kazuma Natsume

Takuya Takayama

Koichiro Suzuki

Takashi Chiba

Hideki Kitagawa

Norikazu Ikoma

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.

Tracking apparatus, tracking method, and non-transitory storage medium storing tracking program

An acquiring unit acquires, for each of reflection points detected by a radar device, reflection point information including a horizontal angle, a vertical angle, and a relative speed. A converting unit converts each of the reflection points into three-dimensional coordinates. An extracting unit extracts stationary reflection points from the reflection points. An estimating unit uses a relational expression established among unknown parameters including a traveling direction vector and a moving speed of a moving body, three-dimensional coordinates of each of the stationary reflection points, and a relative speed of the stationary reflection point, to estimate the known parameters. A calculating unit determines an axial misalignment angle from the estimated unknown parameters.

Axial-misalignment estimating device

A target determination apparatus mounted in a vehicle includes a first relative speed acquisition device configured to acquire a relative speed of a target forward of the vehicle with respect to the vehicle as a first relative speed using a millimeter-wave radar, a second relative speed acquisition device configured to acquire a relative speed of the target with respect to the vehicle as a second relative speed using a lidar, and a determination device configured to, in a case where the difference between the first relative speed and the second relative speed exceeds a threshold, determine the target as an upper structure located above the height of the vehicle.

Target determination apparatus and driving assistance system

A radar apparatus includes a first processing unit, a second processing unit, and a speed determining unit. Of these units, the first processing unit determines at least speed including ambiguity caused by phase folding back within a predetermined speed measurement range, from phase rotation of frequency components detected in time-series for a same target, using a beat signal obtained by transmitting and receiving, a plurality of times, a predetermined first modulation wave. The second processing unit determines at least speed that is uniquely determined within the speed measurement range, from Doppler frequency included in frequency components indicating a target, using a beat signal obtained by transmitting and receiving a predetermined second modulation wave. The speed determining unit determines a measurement result for speed expressed by a resolution obtained by the first processing unit by comparing a calculation result of the first processing unit and a calculation result of the second processing unit.

Growing community of inventors

Kariya, Japan

Mitsutoshi Morinaga