Abstract: A motion state determination apparatus according to the present disclosure includes a sensor for obtaining observation data on a target object, a route data storage unit, a route component predictor that calculates component parallel and vertical to the route of a motion-dimension prediction value and a prediction error, a first coordinate transformer that transforms a motion-dimension prediction value and a prediction error into those on a coordinate system the same as a first coordinate system, a filter that calculates a motion-dimension estimation value and an estimation error, a second coordinate transformer that transforms a motion-dimension estimation value and an estimation error into a component parallel to the route and a component vertical to the route and a motion-dimension prediction value and a prediction error, and a state determinator that determines a motion state of the target object. As a result, the frequency of an erroneous determination can be decreased.

Abstract: The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result.

Abstract: A target tracking apparatus (1) includes: a plurality of nth-time-around echo tracking filter units (3-n) for generating a candidate track of a target from information of the target on an assumption that n is an integer larger than or equal to 1 and that the target to be observed is present at a range observed as an nth-time-around echo with a premise that the information of the target observed by a radar (2) includes missed detection of the target and false detection of the target; a track reliability calculating unit (4) for calculating track reliability representing likelihood of the candidate track generated by the plurality of nth-time-around echo tracking filter units (3-n) with the premise that the information of the target includes missed detection of the target and false detection of the target; and a track determining unit (6) for determining a track to be displayed on a display device (7) from among the candidate tracks generated by the plurality of nth-time-around echo tracking filter units (3-n)

Abstract: A configuration includes: a target-motion prediction unit (5) that calculates predicted movement ranges of one or more other vehicles (60) based on target tracking; an inter-target collision possibility estimator (6) that estimates a collision possibility based on overlap of predicted movement ranges of the other vehicles (60); a target-motion re-prediction unit (7) that again calculates predicted movement ranges to avoid collision when the collision possibility between the other vehicles (60) exists; an own-motion prediction unit (10) that calculates a predicted movement range of a user's vehicle (50) based on an observation result; and an own-collision possibility estimator (11) that estimates collision possibilities between the user's vehicle (50) and the other vehicles (60) based on overlap of the final predicted movement ranges of the other vehicles (60) and the predicted movement range of the user's vehicle (50).

Abstract: The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result.

Abstract: A configuration includes: a target-motion prediction unit (5) that calculates predicted movement ranges of one or more other vehicles (60) based on target tracking; an inter-target collision possibility estimator (6) that estimates a collision possibility based on overlap of predicted movement ranges of the other vehicles (60); a target-motion re-prediction unit (7) that again calculates predicted movement ranges to avoid collision when the collision possibility between the other vehicles (60) exists; an own-motion prediction unit (10) that calculates a predicted movement range of a user's vehicle (50) based on an observation result; and an own-collision possibility estimator (11) that estimates collision possibilities between the user's vehicle (50) and the other vehicles (60) based on overlap of the final predicted movement ranges of the other vehicles (60) and the predicted movement range of the user's vehicle (50).