| CPC G01S 13/726 (2013.01) [G01S 7/415 (2013.01); G01S 13/931 (2013.01)] | 17 Claims |
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1. A target tracking device for tracking one or more targets located in surroundings of a vehicle, the target tracking device being configured to be mounted to the vehicle and comprising an electronic control unit configured to:
every time a preset repetition period of a processing cycle elapses, estimate, for each of the one or more targets, a current state quantity based on at least either observation information of the one or more targets observed by a sensor or past state quantities of the one or more targets;
for each respective target of the one or more targets, select one motion model from a plurality of predefined motion models, the plurality of motion models including a first motion model and a second motion model, the first motion model being a linear motion model and the second motion model being a turning motion model, the selecting of the one motion model with respect to the respective target including:
determining whether at least one selection parameter, each of which is a predefined parameter that indicates a state of the respective target or a state of the vehicle, is equal to or greater than a predefined selection criterion value; and
selecting the first motion model in response to the selection parameter that is an elapsed cycle number corresponding to a number of processing cycles which have elapsed since the respective target was detected being equal to or less than the selection criterion value;
for each respective target of the one or more targets, estimate the state quantity of the target with the one motion model, as selected; and
track each respective target based on the state quantity of the respective target.
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