Estimation apparatus

• US 10,077,979 B2
• Filed: 03/04/2014
• Issued: 09/18/2018
• Est. Priority Date: 03/04/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sakamoto, Mai, Suzuki, Koichiro
• Primary Examiner(s): Nicely, Joseph C
• Application Number:
  US14/772,691
• Publication Number:
  US 20160018219A1
• Time in Patent Office: 1,659 Days
• CPC Class Codes: G01B 21/16 for measuring distance of clearance between spaced objects
• CPC Class Codes: G01S 11/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 13/347 using more than one modulation frequency
• CPC Class Codes: G01S 13/38 wherein more than one modulation frequency is used
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles

Abstract

An estimation apparatus includes a distance estimator. The distance estimator performs regression analysis using, as samples, an observation of distance and an observation at each time within a predetermined period obtained by an observer. The estimation apparatus estimates that a value of the distance upon a value of a displacement calculated in accordance with a regression equation based on the regression analysis being zero shows a value of the distance to the forward object at a start time.

Claims

1. A forward object estimation apparatus for a vehicle to detect a forward object and preventing collision between the vehicle and the forward object, the forward object estimation apparatus comprising:

a radar unit configured to detect a distance, a velocity and an orientation of the forward object using radar waves, the radar unit outputting a distance observation, a velocity observation and an orientation observation regarding the forward object;

a drive assist electronic control unit (ECU) configured to receive the distance information, the velocity information and the orientation information from the radar unit, the drive assist ECU comprising;

a displacement calculator configured to use the velocity observation at each of times within a predetermined period to calculate, for each of the times, a temporal integral value of the velocity observations from a start time of the predetermined period to a corresponding one of the times, the temporal integral value calculated for each of the times serving as a displacement observation of the forward target within the start time to a corresponding one of the times; and

a distance estimator configured to;

perform regression analysis using, as samples, the distance observations and the displacement observations at the respective times within the predetermined period, the regression analysis being based on the distance as an objective variable and the displacement as an explanatory variable; and

estimate that a value of the distance upon a value of the displacement calculated in accordance with a regression equation based on the regression analysis being zero shows a value of the distance to the forward object at the start time, and

an output unit configured to output a target control signal based on the value of the distance to the forward object at the start time; and

a controller target unit configured to receive the target control signal and perform a vehicle control to perform at least one of;

preventing collision with the forward object based on the target control signal; and

warning about the forward object based on the target control signal.

2. The estimation apparatus according to claim 1, further comprising:

a correction unit configured to perform state estimation of the forward object using a state estimation filter based on a linear state space model to correct the distance observations and the velocity observations at the respective times,

wherein;

the displacement calculator calculates, as the displacement observation at each of the times, a temporal integral value of the corrected velocity observations by the correction unit; and

the distance estimator performs the regression analysis using, as the samples, the corrected distance observations at the respective times by the correction unit and the displacement observations at the respective times.

3. The estimation apparatus according to claim 2, wherein:

the state estimation filter based on the linear state space model is a linear Kalman filter.

4. The estimation apparatus according to claim 3, wherein:

the distance estimator estimates, as a value of the distance at each of the times, a sum of the estimated value of the distance at the start time and the displacement observation at a corresponding one of the times.

5. The estimation apparatus according to claim 2, wherein:

the distance estimator estimates, as a value of the distance at each of the times, a sum of the estimated value of the distance at the start time and the displacement observation at a corresponding one of the times.

6. The estimation apparatus according to claim 1, wherein:

the distance estimator estimates, as a value of the distance at each of the times, a sum of the estimated value of the distance at the start time and the displacement observation at a corresponding one of the times.

7. The estimation apparatus according to claim 6, wherein:

the observer comprises an apparatus for further observing an orientation of the forward object,

the estimation apparatus further comprising;

a position estimator configured to estimate, according to the value of the distance at each of the times estimated by the distance estimator and observations of the orientation by the observer, a position of the forward object in an orthogonal coordinate system at each of the times.

8. The estimation apparatus according to claim 7, wherein:

the position estimator comprises;

a conversion unit configured to convert a position of the forward object at each of the times into a position of the forward object in an X-Y coordinate system as the orthogonal coordinate system at a corresponding one of the times, the position of the forward object at each of the times being specified based on the value of the distance at a corresponding one of the times estimated by the distance estimator and a corresponding value of the orientation observations,

the position estimator being configured to;

perform regression analysis using, as samples, an X coordinate of the position at each of the times obtained by the conversion to calculate a function representing a correlation between the time and the X coordinates; and

perform regression analysis using, as samples, a Y coordinate of the position at each of the times to calculate a function representing a correlation between the time and the Y coordinates, thus estimating the position of the forward object at each of the times.

9. The estimation apparatus according to claim 8, further comprising:

a state estimator configured to estimate the position and the velocity of the forward object using a state estimation filter based on a non-linear state space model; and

an initial value setting unit configured to set, as initial values associated with the respective position and velocity of the forward object for the state estimation filter used by the state estimator, a position and velocity of the forward object at a time corresponding to the initial values,

the position and velocity at the time corresponding to the initial values being specified from the position estimated by the position estimator.

10. The estimation apparatus according to claim 9, wherein:

the state estimation filter based on the non-linear state space model is a non-linear Kalman filter.

11. The estimation apparatus according to claim 10, wherein:

the non-linear Kalman filter is an extended Kalman filter.

12. The estimation apparatus according to claim 7, further comprising:

a state estimator configured to estimate the position and the velocity of the forward object using a state estimation filter based on a non-linear state space model; and

an initial value setting unit configured to set, as initial values associated with the respective position and velocity of the forward object for the state estimation filter used by the state estimator, a position and velocity of the forward object at a time corresponding to the initial values,

the position and velocity at the time corresponding to the initial values being specified from the position estimated by the position estimator.