| 摘要 |
PROBLEM TO BE SOLVED: To provide a radar device capable of outputting a correct pairing result by excluding a false target due to an incorrect pair even in a situation where a plurality of targets exist and a pair of the distance and the angle of each target is unknown. SOLUTION: The radar device includes a distance-angle observation value detection part 1 generating a distance-angle observation value; a hypothesis generation part 4 generating a plurality of hypotheses; an initial state quantity setting part 5 generating an initial distance-angle observation value; a correlation processing part 7 selecting a distance-angle observation value with correlation on the basis of a correlation processing result between a prediction value and an observation value; a tracking filter part 8 calculating the prediction value on the basis of the observation value; a logarithmic likelihood calculation part 9 calculating the logarithmic likelihood of the hypothesis and calculating the sum of the logarithmic likelihoods of the hypotheses of the entire samples and the number of the samples; a number-of-samples determination part 11 outputting the sum of the logarithmic likelihoods for each of the hypotheses when the number of the samples is not less than a prescribed threshold; and a maximum reliability hypothesis determination part 12 outputting the pair of the distance and the angle included in the hypothesis with the maximum reliability as the pairing result. COPYRIGHT: (C)2010,JPO&INPIT
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