MOVABLE BODY-TRACKING DEVICE

摘要

PROBLEM TO BE SOLVED: To obtain a movable body-tracking device where the tracking accuracy of a movable body is improved by eliminating a linear approximation error by restricting the movement of the traveling body onto a road plane. SOLUTION: First and second coordinates converters 3 and 15 for converting the observation value of a tracking target being observed by a radar device 1 and an image sensor device 2 to a common two-dimensional rectangular coordinates system, and observation error covariance converters 25 and 26 for converting the model of an observation error covariance for evaluating an observation error for the radar device 1 and the image sensor device 2 to an observation error covariance in the common two-dimensional rectangular coordinates system are provided.