To provide a tracking device enabling improvement of tracking accuracy for a mobile object.SOLUTION: A processor of a tracking device is configured to perform: obtaining an observed value of a mobile object observed at an observation time; obtaining an estimated state value by estimating a state value of the mobile object at the observation time; and estimating a real value of the state value at the observation time by means of nonlinear filtering using the observation value and the estimated state value at the observation time as variables. Estimating the real value includes: setting, according to a visibility degree for each vertex m from an external sensor system, a weighting coefficient s for each of a plurality of vertices m in a rectangular model in which the mobile object is modeled; obtaining an observation error at each vertex m, based on the observation value and the estimated state value at the observation time; and obtaining a covariance of the observation error, based on the weighting coefficient s for each vertex m.SELECTED DRAWING: Figure 7

    【課題】移動体に対する追跡精度を高める追跡装置の提供。【解決手段】追跡装置のプロセッサは、観測時刻に観測された移動体の観測値を取得することと、観測時刻における移動体の状態値を予測することにより、予測状態値を取得することと、観測時刻における観測値及び予測状態値を変数とした非線形フィルタリングにより、観測時刻における状態値の真値を推定することとを、実行するように構成される。真値を推定することは、移動体をモデリングした矩形モデルにおける複数頂点m毎の重み係数sを、外界センサ系からの各頂点m毎の視認度に応じて設定することと、各頂点mでの観測誤差を、観測時刻における観測値及び予測状態値に基づき取得することと、観測誤差の共分散を、各頂点m毎の重み係数sに基づき取得することとを、含む。【選択図】図7


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    Title :

    TRACKING DEVICE, TRACKING METHOD, TRACKING PROGRAM


    Additional title:

    追跡装置、追跡方法、追跡プログラム


    Contributors:

    Publication date :

    2022-11-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



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