To improve fusion results of a plurality of sensors by appropriately setting the reliability levels of the sensors in response to a use scene.SOLUTION: A target detection device includes: a fusion processing section for processing a fusion and outputting prediction values of a target after the fusion; erroneous detection estimation sections for estimating erroneous detection for each target based on an observation value and the prediction values, so as to output erroneous detection estimation results; an erroneous detection probability calculation section for calculating an erroneous detection rate for each sensor based on the erroneous detection estimation results; and a reliability correction section for correcting the reliability level of the predetermined sensor based on the erroneous detection rate, so as to output the reliability level after correction. The fusion processing section processes the fusion based on the prediction values, the erroneous detection estimation results, and the reliability level after correction.SELECTED DRAWING: Figure 7
【課題】利用シーンに応じて適切にセンサの信頼度を設定して複数センサのフュージョン結果を改善する。【解決手段】フュージョンを処理してフュージョン後の物標の予測値を出力するフュージョン処理部と、観測値と予測値に基づいて物標ごとの誤検知を推定して誤検知推定結果を出力する誤検知推定部と、誤検知推定結果に基づいてセンサ毎の誤検知率を算出する誤検知確率算出部と、誤検知率に基づいて予め定められたセンサの信頼度を補正して補正後の信頼度を出力する信頼度補正部とをする。フュージョン処理部は、予測値、誤検知推定結果及び補正後の信頼度に基づいてフュージョンを処理する。【選択図】図7
TARGET DETECTION DEVICE AND TARGET DETECTION METHOD
物標検出装置及び物標検出方法
2022-06-03
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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