| 摘要 |
<p>The purpose of the present invention is to provide a state estimation device capable of estimating, with high accuracy, the state of an object to be observed. A state estimation device (1) estimates the state of a vehicle located in the periphery of the vehicle, to which the state estimation device (1) is mounted, by performing a Kalman filter updating process for computing the measurement data of a target vehicle obtained from a LIDAR (2), said Kalman filter updating process being performed by applying the aforementioned measurement data to a state estimation model. The state estimation device (1) changes the state estimation model used in the Kalman filter updating process on the basis of the state of the target vehicle or the positional relationship in relation to the target vehicle.</p> |
