TRAVELING DIRECTION VECTOR RELIABILITY DETERMINATION METHOD AND TRAVELING DIRECTION VECTOR RELIABILITY DETERMINATION DEVICE
First Claim
1. A traveling direction vector reliability determination method for determining reliability of a traveling direction vector when the traveling direction vector is calculated based on position coordinate points of a target, the position coordinate points being calculated by a radar device, the method comprising:
- a traveling direction vector calculation step of calculating, based on a movement history of the position coordinate points, the traveling direction vector of the target; and
a reliability calculation step of calculating, in a case where the position coordinate points include at least one normally recognized coordinate point normally recognized by the radar device and at least one estimated coordinate point estimated by the radar device, the reliability of the traveling direction vector, based on at least one of information about the at least one normally recognized coordinate point and information about the at least one estimated coordinate point.
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Abstract
There is provided a traveling direction vector reliability determination method in which reliability of a traveling direction vector of another vehicle is calculated so as to increase reliability of a collision prediction. The traveling direction vector reliability determination method determines the reliability of the traveling direction vector when the traveling direction vector is calculated based on position coordinate points of a target, which are calculated by a radar device. The method includes a traveling direction vector calculation step of calculating, based on a movement history of the position coordinate points, the traveling direction vector of the target; and a reliability calculation step of calculating, in a case where the position coordinate points include normally recognized coordinate points and estimated coordinate points, the reliability of the traveling direction vector, based on at least one of information about the normally recognized coordinate points and information about the estimated coordinate points.
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Citations
14 Claims
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1. A traveling direction vector reliability determination method for determining reliability of a traveling direction vector when the traveling direction vector is calculated based on position coordinate points of a target, the position coordinate points being calculated by a radar device, the method comprising:
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a traveling direction vector calculation step of calculating, based on a movement history of the position coordinate points, the traveling direction vector of the target; and a reliability calculation step of calculating, in a case where the position coordinate points include at least one normally recognized coordinate point normally recognized by the radar device and at least one estimated coordinate point estimated by the radar device, the reliability of the traveling direction vector, based on at least one of information about the at least one normally recognized coordinate point and information about the at least one estimated coordinate point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A traveling direction vector reliability determination device for determining reliability of a traveling direction vector when the traveling direction vector is calculated based on position coordinate points of a target, the position coordinate points being calculated by a radar device, the device comprising:
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a traveling direction vector calculation section that calculates, based on a movement history of the position coordinate points, the traveling direction vector of the target; and a reliability calculation section that calculates, in a case where the position coordinate points include at least one normally recognized coordinate point normally recognized by the radar device and at least one estimated coordinate point estimated by the radar device, the reliability of the traveling direction vector, based on at least one of information about the at least one normally recognized coordinate point and information about the at least one estimated coordinate point.
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Specification