Apparatus for estimating state of vehicle located in frontward field
First Claim
1. An estimation apparatus for estimating a state of a vehicle located in a frontward field which is present in front of the estimation apparatus, comprising:
- measurement means for measuring positional coordinates of a plurality of positions on an object to be targeted, by radiating radar waves toward the frontward field and receiving reflected radar waves from an object located ahead in the frontward field;
analysis means for obtaining a position, a direction and a size of a graphical pattern by approximating the graphical pattern into a profile pattern of the object located ahead, the graphical pattern being modeled as a profile of a vehicle, a direction and a size of the graphical pattern being unknown, the profile pattern being expressed by the positional coordinates measured by the measuring means; and
estimation means for estimating, as the state of the vehicle located ahead, a position of the vehicle, a direction of the vehicle, and one of a whole length and a whole width of the vehicle based on the position, the direction, and the size of the graphical pattern obtained by the analysis means.
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Accused Products
Abstract
An estimation apparatus estimates a state of a vehicle located in a frontward field. Positional coordinates of a plurality of positions on an object are measured by radiating radar waves toward the frontward field and receiving reflected radar waves from an object in the frontward field. A position, direction and size of a graphical pattern are obtained by approximating the graphical pattern into a profile pattern of the object. The graphical pattern is modeled as a profile of a vehicle. A direction and size of the graphical pattern are unknown. The profile pattern is expressed by the positional coordinates. As the state of the vehicle located ahead, a position of the vehicle, a direction of the vehicle, and one of a whole length and a whole width of the vehicle are estimated based on the position, the direction, and the size of the graphical pattern.
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Citations
13 Claims
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1. An estimation apparatus for estimating a state of a vehicle located in a frontward field which is present in front of the estimation apparatus, comprising:
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measurement means for measuring positional coordinates of a plurality of positions on an object to be targeted, by radiating radar waves toward the frontward field and receiving reflected radar waves from an object located ahead in the frontward field; analysis means for obtaining a position, a direction and a size of a graphical pattern by approximating the graphical pattern into a profile pattern of the object located ahead, the graphical pattern being modeled as a profile of a vehicle, a direction and a size of the graphical pattern being unknown, the profile pattern being expressed by the positional coordinates measured by the measuring means; and estimation means for estimating, as the state of the vehicle located ahead, a position of the vehicle, a direction of the vehicle, and one of a whole length and a whole width of the vehicle based on the position, the direction, and the size of the graphical pattern obtained by the analysis means. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An estimation apparatus for estimating a motion state of a vehicle located in a frontward field which is present in front of the estimation apparatus, comprising:
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measurement means for measuring positional coordinates of a plurality of positions on a surface of an object to be targeted, by radiating radar waves toward the frontward field and receiving reflected radar waves from an object located ahead in the frontward field; and estimation means for estimating the motion state of the vehicle based on the positional coordinates measured by the measurement means and a predetermined non-linear motion model for the vehicle. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification