Target tracking device

A target tracking device for tracking one or more targets located in surroundings of a vehicle, the target tracking device being configured to be mounted to the vehicle and comprising an electronic control unit configured to:

• every time a preset repetition period of a processing cycle elapses, estimate, for each of the one or more targets, a current state quantity based on at least either observation information of the one or more targets observed by a sensor or past state quantities of the one or more targets;
• for each respective target of the one or more targets, select one motion model from a plurality of predefined motion models, the plurality of motion models including a first motion model and a second motion model, the first motion model being a linear motion model and the second motion model being a turning motion model, the selecting of the one motion model with respect to the respective target including:
• determining whether at least one selection parameter, each of which is a predefined parameter that indicates a state of the respective target or a state of the vehicle, is equal to or greater than a predefined selection criterion value;
• and
• selecting the second motion model in response to the selection parameter that is an absolute value of acceleration of the vehicle being equal to or greater than the selection criterion value;
• for each respective target of the one or more targets, estimate the state quantity of the target with the one motion model, as selected;
• and
• track each respective target based on the state quantity of the respective target.

A target tracking device for tracking one or more targets located in surroundings of a vehicle, the target tracking device being configured to be mounted to the vehicle and comprising an electronic control unit configured to:

• every time a preset repetition period of a processing cycle elapses, estimate, for each of the one or more targets, a current state quantity based on at least either observation information of the one or more targets observed by a sensor or past state quantities of the one or more targets;
• calculate, for each respective target of the one or more targets, a predicted value of the current state quantity of the target based on an estimate of a past state quantity of the target;
• for each respective target of the one or more targets, select one motion model from a plurality of predefined motion models based on at least either a state of the target or a state of the vehicle, the one motion model being different from a previously selected motion model and being selected in response to an elapsed-after-setting cycle number, which is a number of processing cycles that have elapsed since the one motion model currently selected was set, being equal to or greater than a predefined switching criterion cycle number and a predicted residual error, which is a difference between the predicted value of the state quantity and an observed value indicated by the observation information, being equal to or greater than a predefined switching criterion value;
• for each respective target of the one or more targets, estimate the state quantity of the target with the one motion model, as selected;
• and
• track each respective target based on the state quantity of the respective target.