Estimation device, estimation method, tracking device including estimation device, and tracking method including estimation method

An tracking method for detecting a smoothed position of an object existing on a periphery of a host vehicle, the tracking method comprising:

• detecting a position of the object;
• obtaining a measured Doppler velocity of the object from the first sensor or camera;
• obtaining a measured host vehicle velocity from a second sensor or camera;
• calculating a turning radius of the host vehicle based on information received from a third sensor, which is a steering angle or yaw rate sensor that detects a steering angle or yaw rate of the host vehicle;
• calculating, while the host vehicle is performing a host vehicle turn, a predicted position of the object along the host vehicle turn based on the detected position of the object, the measured Doppler velocity, the measured host vehicle velocity, and the calculated turning radius of the host vehicle;
• and
• calculating the smoothed position of the object on the basis of an observed position of the object existing on the periphery of the host vehicle, which is to be detected or has been detected by a reflection wave, and the predicted position of the object.

A tracking device for detecting a smoothed position of an object existing on a periphery of a host vehicle, the tracking device comprising:

• a position calculating circuit that detects a position of the object;
• a Doppler velocity calculating circuit that obtains a measured Doppler velocity of the object from a first sensor or camera;
• a host vehicle velocity obtaining circuit that obtains a measured host vehicle velocity from a second sensor or camera;
• a host vehicle turning radius obtaining circuit that calculates a turning radius of the host vehicle based on information received from a third sensor, which is a steering angle or yaw rate sensor that detects a steering angle or yaw rate of the host vehicle;
• a predicted position calculating circuit that, while the host vehicle is performing a host vehicle turn, calculates the predicted position of the object along the host vehicle turn based on the detected position of the object, the measured Doppler velocity, the measured host vehicle velocity, and the calculated turning radius of the host vehicle;
• and
• a smoothed position calculating circuit that calculates the smoothed position of the object on the basis of an observed position of the object existing on the periphery of the host vehicle, which is to be detected or has been detected by a reflection wave, and the predicted position of the object, wherein the sensors include one or more of:
• a host vehicle velocity sensor, a yaw rate sensor, a steering angle sensor, a Lidar sensor, a radar sensor or an ultrasonic sensor.