A processor of a tracking device according to the present invention is configured to execute the steps of: acquiring an observed value of a moving body observed at an observation time; acquiring a predicted state value by predicting a state value of the moving body at the observation time; and estimating a true value of the state value at the observation time by non-linear filtering using the predicted state value and the observation value at the observation time as variables. Estimating the truth value comprises the steps of: setting a weighting coefficient (s) for each of a plurality of vertices (m) in a rectangular model obtained by modeling a moving body on the basis of the visibility of each vertex (m) from an external sensor system; acquiring an observation error at each vertex (m) based on the predicted state value and the observation value at the observation time; and obtaining the covariance of the observation error based on the weight coefficient (s) of each vertex (m).
本发明的跟踪装置的处理器构成为执行如下步骤:获取在观测时刻观测到的移动体的观测值;通过预测在观测时刻的移动体的状态值,来获取预测状态值;以及通过将预测状态值和在观测时刻的观测值作为变量的非线性滤波,来估计在观测时刻的状态值的真值。估计真值包含如下步骤:根据来自外界传感器系统的每个顶点(m)的视觉辨认度来设定对移动体进行建模而成的矩形模型中的多个顶点(m)中的每个顶点的权重系数(s);基于预测状态值和在观测时刻的观测值来获取各顶点(m)处的观测误差;以及基于每个顶点(m)的权重系数(s)来获取观测误差的协方差。
Tracking device, tracking method, and tracking program
跟踪装置、跟踪方法、跟踪程序
2024-01-16
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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