US 12,123,939 B2
Object tracking apparatus
Yusuke Akamine, Nisshin (JP); and Takuya Takayama, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Apr. 13, 2022, as Appl. No. 17/659,154.
Application 17/659,154 is a continuation of application No. PCT/JP2020/038021, filed on Oct. 7, 2020.
Claims priority of application No. 2019-188668 (JP), filed on Oct. 15, 2019.
Prior Publication US 2022/0236398 A1, Jul. 28, 2022
Int. Cl. G01S 13/58 (2006.01); G01S 7/41 (2006.01); G01S 13/93 (2020.01)
CPC G01S 13/58 (2013.01) [G01S 7/415 (2013.01); G01S 13/93 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An object tracking apparatus comprising:
an acquiring unit that is configured to acquire detection information from a sensor that is mounted to a moving body;
an object detecting unit that is configured to detect an object that is present in a vicinity of the moving body from the detection information that is acquired by the acquiring unit;
a distance calculating unit that is configured to calculate a distance of the object that is detected by the object detecting unit;
a velocity calculating unit that is configured to calculate a relative velocity of the object that is detected by the object detecting unit;
an orientation calculating unit that is configured to calculate an orientation of the object that is detected by the object detecting unit;
a candidate generating unit that, for the object that is initially detected by the object detecting unit, is configured to calculate a plurality of aliased velocities of which aliasing from the relative velocity that is calculated by the velocity calculating unit is assumed, and is configured to generate a plurality of target candidates that correspond to the plurality of aliased velocities;
a state estimating unit that, for each target candidate that is included in the plurality of target candidates that are generated by the candidate generating unit, is configured to estimate a current state of the target candidate from a past state of the target candidate and observation information, in which the observation information includes the distance that is calculated by the distance calculating unit, the relative velocity that is calculated by the velocity calculating unit, and the orientation that is calculated by the orientation calculating unit; and
a candidate selecting unit that is configured to select the target candidate that is estimated to be a true target from the plurality of target candidates that are generated for a same object by the candidate generating unit, wherein
the candidate generating unit includes
a reference velocity calculating unit that is configured to calculate, as a reference velocity, an aliased velocity of the relative velocity that is calculated by the velocity calculating unit that is equal to or greater than a velocity lower-limit value and is most negative or smallest in magnitude, the velocity lower-limit value being set based on a movement velocity of the moving body, and
an aliased velocity calculating unit that is configured to calculate the plurality of aliased velocities that are the reference velocity that is calculated by the reference velocity calculating unit that is aliased 0 to n times, n being a natural number, in a positive direction.