To prevent deterioration of accuracy to detect a mobile body even when occlusion occurs.SOLUTION: A mobile body detection device includes: a prediction section 11 for generating prediction information expressing an occupation probability and a speed distribution of a mobile body in each position at a current point of time on the basis of last estimation information; an observation section 12 for generating observation information related to an existence state and a mobile state of a mobile body in each position at a current point of time on the basis of detection information of sensors; an estimation section 13 for generating estimation information expressing an occupation probability and a speed distribution of a mobile body in each position at a current point of time on the basis of prediction information and observation information; and a determination section 14 for determining whether a mobile body exists in each position on the basis of estimation information at a current point of time. The determination section gives an attribute related to an existence state of a mobile body in each position to estimation information on the basis of a determination result related to existence of a mobile body. The prediction section gives an attribute to prediction information on the basis of an attribute included in last estimation information. The observation section corrects observation information on the basis of an attribute included in prediction information.SELECTED DRAWING: Figure 1
【課題】オクルージョンが発生した場合でも、移動体の検知精度が低下しないようにする。【解決手段】直前の推定情報に基づき、現時点の各位置における移動体の占有確率と速度分布を表す予測情報を生成する予測部11と、センサの検出情報に基づき、現時点の各位置における移動体の存在状況と移動状況に関する観測情報を生成する観測部12と、予測情報と観測情報に基づき、現時点の各位置における移動体の占有確率と速度分布を表す推定情報を生成する推定部13と、現時点の推定情報に基づき、各位置に移動体が存在するか否かを判定する判定部14と、を備え、判定部は、移動体の存在に関する判定結果に基づき、各位置での移動体の存在状況に関する属性を推定情報に付与し、予測部は、前回の推定情報に含まれる属性に基づき、予測情報に属性を付与し、観測部は、予測情報に含まれる属性に基づき、観測情報を補正する。【選択図】図1
MOBILE BODY DETECTION DEVICE
移動体検知装置
2020-03-26
Patent
Electronic Resource
Japanese
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