# US 11,994,577 B2 · Object tracking device

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- Number: US 11,994,577 B2
- Document ID: US11994577B2
- Status: Granted
- Kind: B2
- Application number: 17/473,753
- Filed: 2021-09-13
- Published: 2021-12-30
- Granted: 2024-05-28
- Earliest claimed: 2019-03-15
- Assignees: Denso Corporation
- Applicants: Denso Corporation
- Inventors: Yusuke Akamine; Takuya Takayama
- Web page: https://patentgrep.com/patent/US11994577B2

## CPC

- G01S 13/343: {using sawtooth modulation}
- G01S 13/583: {using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets}
- G01S 7/352: {Receivers}
- G01S 7/415: {Identification of targets based on measurements of movement associated with the target}
- G01S 13/44: Monopulse radar, i.e. simultaneous lobing
- G01S 13/584: {adapted for simultaneous range and velocity measurements}
- G01S 13/60: wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track (G01S13/64 takes precedence)
- G01S 13/931: of land vehicles
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G01S 7/4021: {of receivers}
- G01S 2013/93271: {in the front of the vehicles}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

In an object tracking device, a candidate generator is configured to, given P=Kmax−Kmin+1 that defines a range of foldings of velocity by phase rotation from Kminth to Kmaxth foldings, calculate P velocity estimates for each of initial observation points. The candidate generator sets the number of foldings Kmin and the number of foldings Kmax such that Kmin<0 and |Kmin|>|Kmax| when an absolute value of an observation angle representing a direction of the observation point is equal to or less than a first threshold value, and Kmax>0 and |Kmin|<|Kmax| when the absolute value of the observation angle is greater than a second threshold. A velocity determiner is configured to, for each set of candidate targets, select one of the candidate targets belonging to the set of candidate targets, thereby determining the velocity of a target associated with the initial observation point.

## Claims

### Claim 1

An object tracking device comprising:
a signal acquirer configured to acquire a signal every preset processing cycle from a radar device that is mounted to a moving object and uses a modulation scheme for detecting a velocity from a phase change of the signal;
a detector configured to detect, from the signal acquired by the signal acquirer, a relative velocity and an azimuth of each of observation points that reflected a transmitted wave;
a connection determiner configured to determine, for each of current observation points which are the observation points detected by the detector in a current processing cycle, whether there is a historical connection between the current observation point and each of candidate targets generated based on the observation point detected until a previous processing cycle;
a candidate generator configured to, given a number of foldings Kmin and a number of foldings Kmax that are integers, and P=Kmax−Kmin+1 that defines a range of foldings of velocity by phase rotation from Kminth to Kmaxth foldings, calculate P velocity estimates for each of initial observation points that are the current observation points determined by the connection determiner to have no historical connection with the candidate targets, and generate, from the initial observation point, a set of candidate targets having different relative velocity estimates; and
a velocity determiner configured to, for each set of candidate targets generated by the candidate generator, select one of the candidate targets belonging to the set of candidate targets, based on at least a result of determination made by the connection determiner, thereby determining the velocity of a target associated with the initial observation point,
wherein the relative velocity of the observation point is set such that the relative velocity in a direction of approaching the moving object is negative and the relative velocity in a direction of moving away from the moving object is positive, and
the candidate generator is configured to set, for each of the observation points, the number of foldings Kmin and the number of foldings Kmax such that Kmin<0 and |Kmin|>|Kmax| when an absolute value of an observation angle representing a direction of the observation point relative to the direction of travel of the moving object is equal to or less than a preset first threshold value, and Kmax>0 and |Kmin|<|Kmax| when the absolute value of the observation angle is greater than a second threshold that is set equal to or greater than the first threshold value.

### Claim 2 (depends on 1)

The object tracking device according to claim 1, further comprising
a likelihood setter configured to set, for each set of candidate targets generated by the candidate generator, an initial value of likelihood representing certainty for each of the velocity estimates of the respective candidate targets belonging to the set of candidate targets,
wherein the velocity determiner is configured to update the likelihoods according to the result of determination made by the connection determiner and select the one of the candidate targets according to the updated likelihoods,
the likelihood setter is configured to, given that a sum of the likelihoods assigned to the velocity estimates for which the number of foldings is negative is a negative-side total likelihood and a sum of the likelihoods assigned to the velocity estimates for which the number of foldings is positive is a positive-side total likelihood, set the initial values of the likelihoods such that when the absolute value of the observation angle is equal to or less than the first threshold value, the negative-side total likelihood is higher than the positive-side total likelihood, and when the absolute value of the observation angle is greater than the second threshold, the positive-side total likelihood is higher than the negative-side total likelihood.

### Claim 3 (depends on 2)

The object tracking device according to claim 2, wherein
the likelihood setter is configured to set the initial values of the likelihood such that the likelihood of a closest estimate that is the velocity estimate closest to an object-direction velocity which is a velocity component of the moving object along a direction indicated by the observation angle, is maximized.

### Claim 4 (depends on 1)

The object tracking device according to claim 1, wherein
the candidate generator is configured to set the number of foldings Kmin and the number of foldings Kmax such that a closest estimate that is the velocity estimate closest to an object-direction velocity which is a velocity component of the moving object along a direction indicated by the observation angle is included in a folding range that is a velocity range defined by the number of foldings Kmin and the number of foldings Kmax.

### Claim 5 (depends on 4)

The object tracking device according to claim 4, wherein
the candidate generator is configured to set the number of foldings Kmin and the number of foldings Kmax such that when the absolute value of the observation angle is equal to or less than the first threshold, the folding range more extends below the closest estimate than above the closest estimate, and when the absolute value of the observation angle is greater than the second threshold, the folding range more extends above the closest estimate than below the closest estimate.

### Claim 6 (depends on 1)

The object tracking device according to claim 1, wherein
the first threshold is set to a value equal to or less than 90 degrees.

### Claim 7 (depends on 1)

The object tracking device according to claim 1, wherein
the second threshold is set to a value equal to or greater than 90 degrees.

### Claim 8

An object tracking device comprising:
a signal acquirer configured to acquire a signal every preset processing cycle from a radar device that is mounted to a moving object and uses a modulation scheme for detecting a velocity from a phase change of the signal;
a detector configured to detect, from the signal acquired by the signal acquirer, a relative velocity and an azimuth of each of observation points that reflected a transmitted wave;
a connection determiner configured to determine, for each of current observation points which are the observation points detected by the detector in a current processing cycle, whether there is a historical connection between the current observation point and each of candidate targets generated based on the observation point detected until a previous processing cycle;
a candidate generator configured to, given a number of foldings Kmin and a number of foldings Kmax that are integers, and P=Kmax−Kmin+1 that defines a range of foldings of velocity by phase rotation from Kminth to Kmaxth foldings, calculate P velocity estimates for each of initial observation points that are the current observation points determined by the connection determiner to have no historical connection with the candidate targets, and generate, from the initial observation point, a set of candidate targets having different relative velocity estimates;
a likelihood setter configured to set, for each set of candidate targets generated by the candidate generator, an initial value of likelihood representing certainty for each of the velocity estimates of the respective candidate targets belonging to the set of candidate targets; and
a velocity determiner configured to, for each set of candidate targets generated by the candidate generator, update the likelihoods based on a result of determination made by the connection determiner, and select one of the candidate targets belonging to the set of candidate targets based on at least the likelihoods, thereby determining the velocity of a target associated with the initial observation point,
wherein the relative velocity of the observation point is set such that the velocity in the direction of approaching the moving object is negative and the velocity in the direction of separation from the moving object is positive,
the velocity determiner is configured to update the likelihoods according to the result of determination made by the connection determiner and select the one of the candidate targets according to the updated likelihoods, and
the likelihood setter is configured to, given that a sum of the likelihoods assigned to the velocity estimates for which the number of foldings is negative is a negative-side total likelihood and a sum of the likelihoods assigned to the velocity estimates for which the number of foldings is positive is a positive-side total likelihood, set the initial values of the likelihoods such that when an absolute value of an observation angle representing a direction of the observation point relative to the direction of travel of the moving object is equal to or less than a preset first threshold value, the negative-side total likelihood is higher than the positive-side total likelihood, and when the absolute value of the observation angle is greater than a second threshold that is set equal to or greater than the first threshold value, the positive-side total likelihood is higher than the negative-side total likelihood.