# US 2021/0333387 A1 · Measuring device, measuring method, and computer readable medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0333387 A1 - Document ID: US20210333387A1 - Status: Published application - Kind: A1 - Application number: 17/367,063 - Filed: 2021-07-02 - Published: 2021-10-28 - Earliest claimed: 2019-01-30 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Kimihiko HIROI; Ryota SEKIGUCHI - Web page: https://patentgrep.com/patent/US20210333387A1 ## CPC - G01S 13/66: Radar-tracking systems; Analogous systems - G01S 13/867: {Combination of radar systems with cameras} - G01S 7/41: using analysis of echo signal for target characterisation; Target signature; Target cross-section - G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 13/723: {by using numerical data} - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/89: for mapping or imaging - G01S 13/931: of land vehicles - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 17/66: Tracking systems using electromagnetic waves other than radio waves - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/89: for mapping or imaging - G01S 17/931: of land 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 ## Abstract A tracking unit (21) takes, as a subject sensor, each of a plurality of sensors, and calculates a detection value at a subject time about a detection item of an object by using a Kalman filter, on the basis of an observation value about the detection item of the object, the observation value being obtained by observing the object with the subject sensor at the subject time. A reliability calculation unit (23) calculates a reliability of the detection value that is calculated on the basis of the subject sensor, by using a Kalman gain in addition to a Mahalanobis distance between the observation value obtained with the subject sensor and a prediction value that is a value of the detection item of the object at the subject time which is predicted at a time before the subject time. A value selection unit (24) selects a high-reliability detection value among the detection values based on the plurality of sensors. ## Claims ### Claim 1 A measuring device comprising: processing circuitry to take, as a subject sensor, each of a plurality of sensors, and to calculate a detection value at a subject time about a detection item of an object by using a Kalman filter, on a basis of an observation value about the detection item of the object, the observation value being obtained by observing the object with the subject sensor at the subject time, to take, as a subject sensor, each of the plurality of sensors, and to calculate a reliability of the detection value that is calculated on the basis of the observation value obtained with the subject sensor, by using a Kalman gain in addition to a Mahalanobis distance between the observation value and a prediction value, upon given with one of the Mahalanobis distance and the Kalman gain, as a weight to a value obtained from the other, the observation value being obtained with the subject sensor, the prediction value being a value of the detection item of the object at the subject time which is predicted at a time before the subject time, the prediction value being used in calculation of calculating the detection value on the basis of the observation value, the Kalman gain being obtained in the calculation, and to select a detection value whose calculated reliability is high among the detection values which are calculated on the basis of the observation values obtained by the plurality of sensors. ### Claim 2 (depends on 1) The measuring device according to claim 1, wherein the processing circuitry takes, as a subject detection item, each of a plurality of detection items of the object which are each obtained by observing the object with the subject sensor at a subject time, and calculates a detection value of the subject detection item about the object on the basis of an observation value about the subject detection item, takes, as a subject detection item, each of the plurality of detection items, and calculates a reliability of the detection value of the subject detection item, the detection value being calculated on the basis of the observation value which is obtained with the subject sensor, by using a Kalman gain obtained in the calculation, in addition to a Mahalanobis distance between the observation value of the subject detection item and a prediction value of the subject detection item of the object, upon given with one of the Mahalanobis distance and the Kalman gain, as a weight to a value obtained from the other, the observation value being obtained with the subject sensor, and takes, as a subject detection item, each of the plurality detection items, and selects a detection value whose calculated reliability is high among the detection values which are calculated on the basis of the observation values obtained about the subject detection item with the plurality of sensors. ### Claim 3 (depends on 1) The measuring device according to claim 1, wherein the processing circuitry calculates the reliability by multiplying the Mahalanobis distance and the Kalman gain. ### Claim 4 (depends on 1) The measuring device according to claim 1, wherein the processing circuitry calculates the reliability by multiplying a monotonically decreasing function of the Mahalanobis distance by the Kalman gain. ### Claim 5 (depends on 4) The measuring device according to claim 4, wherein the processing circuitry calculates the reliability by multiplying one of a Lorenz function, a Gaussian function, an exponential function, and a power function, of the Mahalanobis distance by the Kalman gain. ### Claim 6 (depends on 1) The measuring device according to claim 1, wherein the processing circuitry calculates the Mahalanobis distances among the observation values obtained with the plurality of sensors individually, and classifies observation values, about which the calculated Mahalanobis distances are equal to a threshold or less, under the same group as being observation values obtained by observing the same object, and selects a detection value whose reliability is high among the detection values calculated on the basis of the observation values which are classified under the same group. ### Claim 7 (depends on 1) The measuring device according to claim 1, wherein the object is an object existing in a vicinity of the mobile body, and wherein the processing circuitry controls the mobile body on the basis of the selected detection value. ### Claim 8 A measuring method comprising: taking, as a subject sensor, each of a plurality of sensors, and calculating a detection value at a subject time about a detection item of an object by using a Kalman filter, on a basis of an observation value about the detection item of the object, the observation value being obtained by observing the object with the subject sensor at the subject time; taking, as a subject sensor, each of the plurality of sensors, and calculating a reliability of the detection value that is calculated on the basis of the observation value obtained with the subject sensor, by using a Kalman gain in addition to a Mahalanobis distance between the observation value and a prediction value, upon given with one of the Mahalanobis distance and the Kalman gain, as a weight to a value obtained from the other, the observation value being obtained with the subject sensor, the prediction value being a value of the detection item of the object at the subject time which is predicted at a time before the subject time, the predicted value being used in calculation of calculating the detection value on the basis of the observation value, the Kalman gain being obtained in the calculation; and selecting a detection value whose calculated reliability is high among the detection values which are calculated on the basis of the observation values obtained by the plurality of sensors. ### Claim 9 A non-transitory computer-readable medium storing a measuring program which causes a computer to function as a measuring device that performs: a tracking process of taking as a subject sensor, each of a plurality of sensors, and calculating a detection value at a subject time of a detection item about an object by using a Kalman filter, on the basis of an observation value of the detection item about the object, the observation value being obtained by observing the object with the subject sensor at the subject time; a reliability calculation process of taking, as a subject sensor, each of the plurality of sensors, and calculating a reliability of the detection value that is calculated on the basis of the observation value obtained with the subject sensor, by using a Kalman gain in addition to a Mahalanobis distance between the observation value and a prediction value, upon given with one of the Mahalanobis distance and the Kalman gain, as a weight to a value obtained from the other, the observation value being obtained with the subject sensor, the prediction value being a value of the detection item of the object at the subject time which is predicted at a time before the subject time, the prediction value being used in calculation of calculating the detection value by the tracking process on the basis of the observation value, the Kalman gain being obtained in the calculation; and a value selection process of selecting a detection value whose reliability calculated by the reliability calculation process is high among the detection values which are calculated on the basis of the observation values obtained by the plurality of sensors.