Apparatus for estimating state of vehicle located in frontward field

• US 7,920,087 B2
• Filed: 08/08/2008
• Issued: 04/05/2011
• Est. Priority Date: 08/10/2007
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Ogawa, Takashi
• Primary Examiner(s): Tarcza; Thomas H
• Assistant Examiner(s): Bythrow; Peter
• Application Number:
  US12/228,135
• Publication Number:
  US 20090040095A1
• Time in Patent Office: 970 Days
• Field of Search: 342 70- 72, 342/118, 342/146
• US Class Current: 342/70
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection

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.

Claims

1. An estimation apparatus for estimating a state of a vehicle located in a frontward field which is present ahead of the estimation apparatus, comprising:

means for measuring positional coordinates of a plurality of positions which are present on an object targeted in the frontward field, by radiating radar waves toward the frontward field and receiving reflected radar waves from the frontward field;

means for obtaining a position, a direction and a size of a graphic pattern by approximating the graphic pattern into a profile pattern of an object located in the frontward field, the graphic pattern being modeled as a profile of a vehicle and having an unknown direction and an unknown size, the profile pattern being expressed by the positional coordinates measured by the measuring means;

wherein the graphic pattern includes a first graphic pattern consisting of a single segment that models one surface of the vehicle and a second graphic pattern being L-shaped and consisting of a pair of mutually-orthogonal segments that models a front or rear surface of the vehicle and a side surface of the vehicle,

the graphic pattern obtaining means includes i) means for approximating the profile pattern of the object into an approximated profile pattern by using each of the first and second graphic patterns, and ii) means for obtaining a position, a direction and a length of each of segments composing each of the first and second graphic patterns and an approximation error between each segment and the profile pattern as the position, direction and size of each of the first and second graphic patterns and the approximation error between each of the first and second graphic patterns and the approximated profile pattern; and

means for estimating, as the state of the vehicle, 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 graphic pattern obtained by the obtaining means,

wherein the estimating means comprises;

means for calculating, as for each of the three segments of the first and second graphic patterns, a probability that each segment is a segment that approximates the front or rear surface of the vehicle and a probability that each segment is a segment that approximates the side surface of the vehicle based on the position, direction and length of each segment and the approximation error between each segment and the profile pattern;

means for selecting a most probable graphic pattern directed to the profile of the vehicle from a set of the graphic patterns in response to calculated probabilities by the calculating means, under a condition where the object is regarded as the vehicle; and

means for estimating, as to the selected graphic pattern, the position of the vehicle, the direction of the vehicle, and at least one of the whole length and the whole width of the vehicle based on the obtained position, direction, and length of each segment of each of the first and second graphic patterns and the approximation error between each segment composing each of the first and second graphic patterns and the profile pattern.

2. The estimation apparatus of claim 1, wherein

the measuring means operates repeatedly at execution cycles and the graphic pattern obtaining means and the state of the vehicle estimating means are operable repeatedly together with the repetition of the measuring means,

the apparatus comprises means for predicting, prior to estimating the state of the vehicle, the state of the vehicle in the next execution cycle of the estimating means by applying, to a predetermined motion model of the vehicle, the state of the vehicle estimated by the estimating means in the past cycle, and

the probability calculating means is configured to calculate the probabilities based on the position, length, and direction of each segment and the approximation error between each segment and the profile pattern, which are obtained in the current execution cycle, and the state of the vehicle predicted by the prediction means.

3. The estimation apparatus of claim 2, wherein

the probability calculating means comprises

means for calculating, for each segment, the probabilities based on the length of each segment and the approximation error obtained by the analysis means,

means for calculating, for each segment, a likelihood corresponding to each prior probability based on the position, direction and length of each segment obtained by the analysis means and the state of the vehicle predicted by the prediction means,

means for calculating, for each segment, as the probabilities, a posterior probability that each segment approximates the front or rear surface of the vehicle and a posterior probability that each segment approximates the side surface of the vehicle by applying a Bayesian estimation technique to the calculated prior probabilities and the calculated likelihoods.

4. The estimation apparatus of claim 3, wherein

the prediction means is configured to use the state of the vehicle estimated in the past by the estimation means to i) predict, according to the predetermined motion model, the state of the vehicle to be estimated by the estimating means in the next execution cycle and ii) predict, according to the predetermined motion model, a travel direction of the vehicle to be estimated by the estimation means in the next execution cycle, and

the likelihood calculating means is configured to calculate, for each segment, the likelihoods based on i) the state of the vehicle and the travel direction of the vehicle both predicted by the prediction means and ii) the direction, position and length of each segment obtained by the analysis means in the current execution cycle.