Apparatus for estimating a vehicle condition located in a forward field

摘要

An estimator estimates a condition of a vehicle located in a front field. Position coordinates of a plurality of positions on an object are measured by radiating radar waves to the front field and receiving reflected radar waves from an object in the front field. A position, direction and size of a graphic pattern are achieved by approximating the graphic pattern to a profile pattern of the object. The graphic pattern is modeled as a model of a vehicle. A direction and size of the graphic pattern are unknown. The profile pattern is expressed by the position coordinates. As the state of the vehicle ahead, a position of the vehicle, a direction of the vehicle, and a total length and a total width of the vehicle are estimated based on the position, the direction, and the size of the graphic pattern.