US 12,032,055 B2
Moving object detection apparatus
Naotsugu Shimizu, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jan. 18, 2021, as Appl. No. 17/151,490.
Application 17/151,490 is a continuation of application No. PCT/JP2019/028276, filed on Jul. 18, 2019.
Claims priority of application No. 2018-136959 (JP), filed on Jul. 20, 2018.
Prior Publication US 2021/0223384 A1, Jul. 22, 2021
Int. Cl. G01S 13/72 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/723 (2013.01) [G01S 13/931 (2013.01); G01S 2013/9315 (2020.01)] 8 Claims
OG exemplary drawing
 
1. A moving object detection apparatus comprising:
a processor;
a non-transitory computer-readable storage medium; and
a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
repeatedly acquire, from a radar apparatus that is mounted to a vehicle to transmit and receive radar waves, observed-point position information indicating observed-point positions that are positions of observed points where the radar waves are reflected;
estimate, based on the observed-point positions indicated by a plurality of pieces of the observed-point position information acquired respectively at different time instants and tracking filter coefficients indicating a degree of tracking the observed-point positions, a tracking trajectory tracking movement of a moving object corresponding to a plurality of the observed points;
determine whether distribution of the plurality of the observed points on both sides of the tracking trajectory is continuously biased to one side of the tracking trajectory; and
set the tracking filter coefficients so that the degree of tracking is higher when the distribution of the plurality of the observed points is determined to be biased than when the distribution of the plurality of the observed points is determined to be not biased.